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<hr><h1>move_container.cpp</h1><a href="move__container_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="move__primitive_8h.html">pacs/move_primitive.h</a>"</font>
00029 <font class="preprocessor">#include "<a class="code" href="move__element_8h.html">pacs/move_element.h</a>"</font>
00030 <font class="preprocessor">#include "<a class="code" href="pacs_2primitive__block_8h.html">pacs/primitive_block.h</a>"</font>
00031
00032 <font class="preprocessor">#include "<a class="code" href="hierarchical__timer_8h.html">nel/misc/hierarchical_timer.h</a>"</font>
00033
00034 <font class="preprocessor">#include "<a class="code" href="i__xml_8h.html">nel/misc/i_xml.h</a>"</font>
00035 <font class="preprocessor">#include <math.h></font>
00036 <font class="preprocessor">#include <float.h></font>
00037
00038 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC;
00039
<a name="l00040"></a><a class="code" href="move__container_8cpp.html#a0">00040</a> <font class="preprocessor">#define NELPACS_ALLOC_DYNAMIC_INFO 100</font>
<a name="l00041"></a><a class="code" href="move__container_8cpp.html#a1">00041</a> <font class="preprocessor"></font><font class="preprocessor">#define NELPACS_ALLOC_STATIC_INFO 100</font>
00042 <font class="preprocessor"></font>
00043 <font class="keyword">namespace </font>NLPACS
00044 {
00045
00046 <font class="comment">// ***************************************************************************</font>
00047
<a name="l00048"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a2">00048</a> CMoveContainer::~CMoveContainer ()
00049 {
00050 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c0">clear</a> ();
00051 }
00052
00053 <font class="comment">// ***************************************************************************</font>
00054
<a name="l00055"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c0">00055</a> <font class="keywordtype">void</font> CMoveContainer::clear ()
00056 {
00057 <font class="comment">// Clear all primitives</font>
00058 std::set<CMovePrimitive*>::iterator ite=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o2">_PrimitiveSet</a>.begin();
00059 <font class="keywordflow">while</font> (ite!=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o2">_PrimitiveSet</a>.end ())
00060 {
00061 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c20">freePrimitive</a> (*ite);
00062 ite++;
00063 }
00064
00065 <font class="comment">// Clear primitive set</font>
00066 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o2">_PrimitiveSet</a>.clear ();
00067
00068 <font class="comment">// Clear root changed</font>
00069 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o3">_ChangedRoot</a>.clear ();
00070
00071 <font class="comment">// Clear static world image set</font>
00072 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o4">_StaticWorldImage</a>.clear ();
00073
00074 <font class="comment">// Clear cell array</font>
00075 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o18">_VectorCell</a>.clear ();
00076
00077 <font class="comment">// Clear time ot</font>
00078 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>.clear ();
00079 }
00080
00081 <font class="comment">// ***************************************************************************</font>
00082
<a name="l00083"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a3">00083</a> <font class="keywordtype">void</font> CMoveContainer::init (<font class="keywordtype">double</font> xmin, <font class="keywordtype">double</font> ymin, <font class="keywordtype">double</font> xmax, <font class="keywordtype">double</font> ymax, uint widthCellCount, uint heightCellCount,
00084 <font class="keywordtype">double</font> primitiveMaxSize, uint8 numWorldImage, uint maxIteration, uint otSize)
00085 {
00086 <font class="comment">// Clear arrays</font>
00087 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c0">clear</a> ();
00088
00089 <font class="comment">// Create world images</font>
00090 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o3">_ChangedRoot</a>.resize (numWorldImage);
00091 <font class="keywordflow">for</font> (uint i=0; i<numWorldImage; i++)
00092 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o3">_ChangedRoot</a>[i]=NULL;
00093
00094 <font class="comment">// Not in test mode</font>
00095 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o19">_Retriever</a>=NULL;
00096
00097 <font class="comment">// Element size</font>
00098 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o9">_PrimitiveMaxSize</a>=primitiveMaxSize;
00099
00100 <font class="comment">// BB</font>
00101 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o10">_Xmin</a>=xmin;
00102 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o11">_Ymin</a>=ymin;
00103 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o12">_Xmax</a>=xmax;
00104 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o13">_Ymax</a>=ymax;
00105
00106 <font class="comment">// Cells count</font>
00107 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o16">_CellCountWidth</a>=widthCellCount;
00108 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o17">_CellCountHeight</a>=heightCellCount;
00109
00110 <font class="comment">// Cells size</font>
00111 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o14">_CellWidth</a>=(<a class="code" href="classNLPACS_1_1CMoveContainer.html#o12">_Xmax</a> - <a class="code" href="classNLPACS_1_1CMoveContainer.html#o10">_Xmin</a>)/(double)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o16">_CellCountWidth</a>;
00112 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o15">_CellHeight</a>=(<a class="code" href="classNLPACS_1_1CMoveContainer.html#o13">_Ymax</a> - <a class="code" href="classNLPACS_1_1CMoveContainer.html#o11">_Ymin</a>)/(double)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o17">_CellCountHeight</a>;
00113
00114 <font class="comment">// Cell array</font>
00115 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o18">_VectorCell</a>.resize (numWorldImage);
00116 <font class="keywordflow">for</font> (uint j=0; j<numWorldImage; j++)
00117 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o18">_VectorCell</a>[j].resize (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o16">_CellCountWidth</a> * <a class="code" href="classNLPACS_1_1CMoveContainer.html#o17">_CellCountHeight</a>);
00118
00119 <font class="comment">// resize OT</font>
00120 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o5">_OtSize</a>=otSize;
00121 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>.resize (otSize);
00122
00123 <font class="comment">// Clear the OT</font>
00124 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c4">clearOT</a> ();
00125
00126 <font class="comment">// Clear test time</font>
00127 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o0">_TestTime</a>=0xffffffff;
00128 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o1">_MaxTestIteration</a>=maxIteration;
00129
00130 <font class="comment">// Resize trigger array</font>
00131 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o21">_Triggers</a>.resize (<a class="code" href="move__container_8h.html#a0">NELPACS_CONTAINER_TRIGGER_DEFAULT_SIZE</a>);
00132 }
00133
00134 <font class="comment">// ***************************************************************************</font>
00135
<a name="l00136"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a4">00136</a> <font class="keywordtype">void</font> CMoveContainer::init (CGlobalRetriever* retriever, uint widthCellCount, uint heightCellCount, <font class="keywordtype">double</font> primitiveMaxSize,
00137 uint8 numWorldImage, uint maxIteration, uint otSize)
00138 {
00139 <font class="comment">// Get min max of the global retriever BB</font>
00140 CVector <a class="code" href="bit__set_8cpp.html#a0">min</a>=retriever->getBBox().getMin();
00141 CVector max=retriever->getBBox().getMax();
00142
00143 <font class="comment">// Setup min max</font>
00144 <font class="keywordtype">double</font> xmin=<a class="code" href="bit__set_8cpp.html#a0">min</a>.x;
00145 <font class="keywordtype">double</font> ymin=<a class="code" href="bit__set_8cpp.html#a0">min</a>.y;
00146 <font class="keywordtype">double</font> xmax=max.x;
00147 <font class="keywordtype">double</font> ymax=max.y;
00148
00149 <font class="comment">// Init</font>
00150 <a class="code" href="classNLPACS_1_1CMoveContainer.html#a3">init</a> (xmin, ymin, xmax, ymax, widthCellCount, heightCellCount, primitiveMaxSize, numWorldImage, maxIteration, otSize);
00151
00152 <font class="comment">// Init the retriever</font>
00153 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o19">_Retriever</a>=retriever;
00154 }
00155
00156 <font class="comment">// ***************************************************************************</font>
00157
<a name="l00158"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a12">00158</a> <font class="keywordtype">void</font> CMoveContainer::evalCollision (<font class="keywordtype">double</font> deltaTime, uint8 worldImage)
00159 {
00160 NL_ALLOC_CONTEXT( Pacs )
00161
00162 <font class="comment">// H_AUTO(PACS_MC_evalCollision);</font>
00163
00164 <font class="comment">// New test time</font>
00165 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o0">_TestTime</a>++;
00166
00167 <font class="comment">// Delta time</font>
00168 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>=deltaTime;
00169
00170 <font class="comment">// Clear triggers</font>
00171 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o21">_Triggers</a>.clear ();
00172
00173 <font class="comment">// Update the bounding box and position of modified primitives</font>
00174 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c1">updatePrimitives</a> (0.f, worldImage);
00175
00176 <font class="preprocessor">#ifdef NL_DEBUG</font>
00177 <font class="preprocessor"></font> <font class="comment">// Check list integrity</font>
00178 <font class="comment">//checkSortedList ();</font>
00179 <font class="preprocessor">#endif // NL_DEBUG</font>
00180 <font class="preprocessor"></font>
00181 <font class="comment">// Get first collision</font>
00182 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o7">_PreviousCollisionNode</a> = &<a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>[0];
00183
00184 <font class="comment">// Eval all collisions</font>
00185 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c9">evalAllCollisions</a> (0.f, worldImage);
00186
00187 <font class="comment">// Clear modified list</font>
00188 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c13">clearModifiedList</a> (worldImage);
00189
00190 <font class="comment">// Modified list is empty at this point</font>
00191 <a class="code" href="debug_8h.html#a6">nlassert</a> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o3">_ChangedRoot</a>[worldImage]==NULL);
00192
00193 <font class="comment">// Previous node is a 'hard' OT node</font>
00194 <a class="code" href="debug_8h.html#a6">nlassert</a> (!<a class="code" href="classNLPACS_1_1CMoveContainer.html#o7">_PreviousCollisionNode</a>->isInfo());
00195
00196 <font class="comment">// Get next collision</font>
00197 CCollisionOTInfo *nextCollision=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o7">_PreviousCollisionNode</a>->getNextInfo ();
00198
00199 <font class="comment">// Collision ?</font>
00200 <font class="keywordflow">while</font> (nextCollision)
00201 {
00202 <font class="comment">// Get new previous OT hard node</font>
00203 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o7">_PreviousCollisionNode</a>=nextCollision->getPrevious ();
00204
00205 <font class="comment">// Previous node is a 'hard' OT node</font>
00206 <a class="code" href="debug_8h.html#a6">nlassert</a> (!<a class="code" href="classNLPACS_1_1CMoveContainer.html#o7">_PreviousCollisionNode</a>->isInfo());
00207
00208 <font class="comment">// Keep this collision</font>
00209 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c29">reaction</a> (*nextCollision);
00210
00211 <font class="comment">// Last time</font>
00212 <font class="keywordtype">double</font> newTime=nextCollision->getCollisionTime ();
00213
00214 <font class="comment">// Remove modified objects from the OT</font>
00215 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c14">removeModifiedFromOT</a> (worldImage);
00216
00217 <font class="comment">// Must have been removed</font>
00218 <a class="code" href="debug_8h.html#a6">nlassert</a> (nextCollision->getPrevious ()==NULL);
00219 <a class="code" href="debug_8h.html#a6">nlassert</a> (nextCollision->CCollisionOT::getNext ()==NULL);
00220
00221 <font class="comment">// Update the bounding box and position of modified primitives</font>
00222 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c1">updatePrimitives</a> (newTime, worldImage);
00223
00224 <font class="comment">// Eval all collisions of modified objects for the new delta t</font>
00225 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c9">evalAllCollisions</a> (newTime, worldImage);
00226
00227 <font class="comment">// Clear modified list</font>
00228 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c13">clearModifiedList</a> (worldImage);
00229
00230 <font class="comment">// Get next collision</font>
00231 nextCollision=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o7">_PreviousCollisionNode</a>->getNextInfo ();
00232 }
00233
00234 <font class="preprocessor">#ifdef NL_DEBUG</font>
00235 <font class="preprocessor"></font> <font class="comment">// OT must be cleared</font>
00236 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c5">checkOT</a> ();
00237 <font class="preprocessor">#endif // NL_DEBUG</font>
00238 <font class="preprocessor"></font>
00239 <font class="comment">// Free ordered table info</font>
00240 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c18">freeAllOTInfo</a> ();
00241
00242 <font class="comment">// Some init</font>
00243 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o7">_PreviousCollisionNode</a>=NULL;
00244 }
00245
00246 <font class="comment">// ***************************************************************************</font>
00247
<a name="l00248"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a14">00248</a> <font class="keywordtype">bool</font> CMoveContainer::testMove (UMovePrimitive* primitive, <font class="keyword">const</font> CVectorD& speed, <font class="keywordtype">double</font> deltaTime, uint8 worldImage, CVectorD *contactNormal)
00249 {
00250 NL_ALLOC_CONTEXT( Pacs )
00251
00252 <font class="comment">// H_AUTO(PACS_MC_testMove);</font>
00253
00254 <font class="keywordflow">if</font> (contactNormal)
00255 *contactNormal = CVectorD::Null;
00256
00257 <font class="comment">// Cast</font>
00258 <a class="code" href="debug_8h.html#a6">nlassert</a> (dynamic_cast<CMovePrimitive*>(primitive));
00259 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a>* prim=static_cast<CMovePrimitive*>(primitive);
00260
00261 <font class="comment">// New test time</font>
00262 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o0">_TestTime</a>++;
00263
00264 <font class="comment">// Delta time</font>
00265 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>=deltaTime;
00266
00267 <font class="comment">// Get the world image primitive</font>
00268 uint8 primitiveWorldImage;
00269 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI;
00270 <font class="keywordflow">if</font> (prim->isNonCollisionable ())
00271 {
00272 wI=prim->getWorldImage (0);
00273 primitiveWorldImage=worldImage;
00274 }
00275 <font class="keywordflow">else</font>
00276 {
00277 wI=prim->getWorldImage (worldImage);
00278 primitiveWorldImage=worldImage;
00279 }
00280
00281 <font class="comment">// Backup speed</font>
00282 CVectorD oldSpeed=wI->getSpeed ();
00283
00284 <font class="comment">// Set speed</font>
00285 wI->move (speed, *<font class="keyword">this</font>, *prim, primitiveWorldImage);
00286
00287 <font class="comment">// Update the bounding box and position of the primitive</font>
00288 wI->update (0, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>, *prim);
00289
00290 <font class="comment">// Compute cells overlaped by the primitive</font>
00291 <font class="keywordflow">if</font> (!prim->isNonCollisionable ())
00292 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c2">updateCells</a> (prim, worldImage);
00293
00294 <font class="preprocessor">#ifdef NL_DEBUG</font>
00295 <font class="preprocessor"></font> <font class="comment">// Check list integrity</font>
00296 <font class="comment">// checkSortedList ();</font>
00297 <font class="preprocessor">#endif // NL_DEBUG</font>
00298 <font class="preprocessor"></font>
00299 <font class="comment">// Result</font>
00300 <font class="keywordtype">bool</font> result=<font class="keyword">false</font>;
00301 <font class="keywordtype">bool</font> testMoveValid;
00302
00303 <font class="comment">// Eval first each static world images</font>
00304 result=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c6">evalOneTerrainCollision</a> (0, prim, primitiveWorldImage, <font class="keyword">true</font>, testMoveValid, NULL, contactNormal);
00305
00306 <font class="comment">// Eval first each static world images</font>
00307 <font class="keywordflow">if</font> (!result)
00308 {
00309 std::set<uint8>::iterator ite=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o4">_StaticWorldImage</a>.begin();
00310 <font class="keywordflow">while</font> (ite!=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o4">_StaticWorldImage</a>.end())
00311 {
00312
00313 <font class="comment">// Eval in this world image</font>
00314 result=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c7">evalOnePrimitiveCollision</a> (0, prim, *ite, primitiveWorldImage, <font class="keyword">true</font>, <font class="keyword">true</font>, testMoveValid, NULL, contactNormal);
00315
00316 <font class="comment">// If found, abort</font>
00317 <font class="keywordflow">if</font> (result)
00318 <font class="keywordflow">break</font>;
00319
00320 <font class="comment">// Next world image</font>
00321 ite++;
00322 }
00323 }
00324
00325 <font class="comment">// Eval collisions if not found and not tested</font>
00326 <font class="keywordflow">if</font> ((!result) && (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o4">_StaticWorldImage</a>.find (worldImage)==<a class="code" href="classNLPACS_1_1CMoveContainer.html#o4">_StaticWorldImage</a>.end()))
00327 result=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c7">evalOnePrimitiveCollision</a> (0, prim, worldImage, primitiveWorldImage, <font class="keyword">true</font>, <font class="keyword">false</font>, testMoveValid, NULL, contactNormal);
00328
00329 <font class="comment">// Backup speed only if the primitive is inserted in the world image</font>
00330 <font class="keywordflow">if</font> (prim->isInserted (primitiveWorldImage))
00331 wI->move (oldSpeed, *<font class="keyword">this</font>, *prim, primitiveWorldImage);
00332
00333 <font class="preprocessor">#ifdef NL_DEBUG</font>
00334 <font class="preprocessor"></font> <font class="comment">// OT must be cleared</font>
00335 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c5">checkOT</a> ();
00336 <font class="preprocessor">#endif // NL_DEBUG</font>
00337 <font class="preprocessor"></font>
00338 <font class="comment">// Free ordered table info</font>
00339 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c18">freeAllOTInfo</a> ();
00340
00341 <font class="comment">// Some init</font>
00342 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o7">_PreviousCollisionNode</a>=NULL;
00343
00344 <font class="comment">// Return result</font>
00345 <font class="keywordflow">return</font> !result;
00346 }
00347
00348 <font class="comment">// ***************************************************************************</font>
00349
<a name="l00350"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c1">00350</a> <font class="keywordtype">void</font> CMoveContainer::updatePrimitives (<font class="keywordtype">double</font> beginTime, uint8 worldImage)
00351 {
00352 <font class="comment">// H_AUTO(PACS_MC_updatePrimitives);</font>
00353
00354 <font class="comment">// For each changed primitives</font>
00355 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a> *<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o3">_ChangedRoot</a>[worldImage];
00356 <font class="keywordflow">while</font> (changed)
00357 {
00358 <font class="comment">// Get the primitive world image</font>
00359 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI;
00360 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>->isNonCollisionable())
00361 wI=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>->getWorldImage (0);
00362 <font class="keywordflow">else</font>
00363 wI=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>->getWorldImage (worldImage);
00364
00365 <font class="comment">// Force the build of the bounding box</font>
00366 wI->update (beginTime, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>, *<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>);
00367
00368 <font class="comment">// Is inserted in this world image ?</font>
00369 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>->isInserted (worldImage))
00370 {
00371
00372 <font class="comment">// Compute cells overlaped by the primitive</font>
00373 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c2">updateCells</a> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>, worldImage);
00374 }
00375
00376 <font class="comment">// Next primitive</font>
00377 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>=wI->getNextModified ();
00378 }
00379 }
00380
00381 <font class="comment">// ***************************************************************************</font>
00382
<a name="l00383"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c2">00383</a> <font class="keywordtype">void</font> CMoveContainer::updateCells (CMovePrimitive *primitive, uint8 worldImage)
00384 {
00385 <font class="comment">// H_AUTO(PACS_MC_updateCells);</font>
00386
00387 <font class="comment">// Get the primitive world image</font>
00388 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI=primitive->getWorldImage (worldImage);
00389
00390 <font class="comment">// Check BB width not too large</font>
00391 <font class="keywordflow">if</font> (wI->getBBXMax() - wI->getBBXMin() > <a class="code" href="classNLPACS_1_1CMoveContainer.html#o14">_CellWidth</a>)
00392 {
00393 <a class="code" href="debug_8h.html#a2">nlwarning</a> (<font class="stringliteral">"Primitives have moved more than a cell."</font>);
00394 }
00395
00396 <font class="comment">// Check BB height not too large</font>
00397 <font class="keywordflow">if</font> (wI->getBBYMax() - wI->getBBYMin() > <a class="code" href="classNLPACS_1_1CMoveContainer.html#o15">_CellHeight</a>)
00398 {
00399 <a class="code" href="debug_8h.html#a2">nlwarning</a> (<font class="stringliteral">"Primitives have moved more than a cell."</font>);
00400 }
00401
00402 <font class="comment">// Get coordinate in the cell array</font>
00403 sint minx=(int)floor ((wI->getBBXMin() - <a class="code" href="classNLPACS_1_1CMoveContainer.html#o10">_Xmin</a>) / <a class="code" href="classNLPACS_1_1CMoveContainer.html#o14">_CellWidth</a>);
00404 sint miny=(int)floor ((wI->getBBYMin() - <a class="code" href="classNLPACS_1_1CMoveContainer.html#o11">_Ymin</a>) / <a class="code" href="classNLPACS_1_1CMoveContainer.html#o15">_CellHeight</a>);
00405 sint maxx=(int)floor ((wI->getBBXMax() - <a class="code" href="classNLPACS_1_1CMoveContainer.html#o10">_Xmin</a>) / <a class="code" href="classNLPACS_1_1CMoveContainer.html#o14">_CellWidth</a>);
00406 sint maxy=(int)floor ((wI->getBBYMax() - <a class="code" href="classNLPACS_1_1CMoveContainer.html#o11">_Ymin</a>) / <a class="code" href="classNLPACS_1_1CMoveContainer.html#o15">_CellHeight</a>);
00407
00408 <font class="comment">// Born</font>
00409 <font class="keywordflow">if</font> (minx<0)
00410 minx=0;
00411 <font class="keywordflow">if</font> (miny<0)
00412 miny=0;
00413 <font class="keywordflow">if</font> (maxx>=(int)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o16">_CellCountWidth</a>)
00414 maxx=(int)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o16">_CellCountWidth</a>-1;
00415 <font class="keywordflow">if</font> (maxy>=(int)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o17">_CellCountHeight</a>)
00416 maxy=(int)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o17">_CellCountHeight</a>-1;
00417
00418 maxx=<a class="code" href="bit__set_8cpp.html#a0">std::min</a> (minx+1, maxx);
00419 maxy=<a class="code" href="bit__set_8cpp.html#a0">std::min</a> (miny+1, maxy);
00420
00421 <font class="comment">// flags founded</font>
00422 <font class="keywordtype">bool</font> found[4]={<font class="keyword">false</font>, <font class="keyword">false</font>, <font class="keyword">false</font>, <font class="keyword">false</font>};
00423
00424 <font class="comment">// For each old cells</font>
00425 uint i;
00426 <font class="keywordflow">for</font> (i=0; i<4; i++)
00427 {
00428 <font class="comment">// Element</font>
00429 CMoveElement *elm = wI->getMoveElement (i);
00430
00431 <font class="comment">// Old element in this cell ?</font>
00432 <font class="keywordflow">if</font> ( elm )
00433 {
00434 <font class="comment">// Check</font>
00435 <a class="code" href="debug_8h.html#a6">nlassert</a> (elm->X<<a class="code" href="classNLPACS_1_1CMoveContainer.html#o16">_CellCountWidth</a>);
00436 <a class="code" href="debug_8h.html#a6">nlassert</a> (elm->Y<<a class="code" href="classNLPACS_1_1CMoveContainer.html#o17">_CellCountHeight</a>);
00437
00438 <font class="comment">// Must remove it ?</font>
00439 <font class="keywordflow">if</font> ( (elm->X < minx) || (elm->X > maxx) || (elm->Y < miny) || (elm->Y > maxy) )
00440 {
00441 <font class="comment">// Yes remove it</font>
00442 wI->removeMoveElement (i, *<font class="keyword">this</font>, worldImage);
00443 }
00444 <font class="keywordflow">else</font>
00445 {
00446 <font class="comment">// Checks</font>
00447 <a class="code" href="debug_8h.html#a6">nlassert</a> (((elm->X - minx)==0)||((elm->X - minx)==1));
00448 <a class="code" href="debug_8h.html#a6">nlassert</a> (((elm->Y - miny)==0)||((elm->Y - miny)==1));
00449
00450 <font class="comment">// Update position</font>
00451 <font class="preprocessor">#ifndef TEST_CELL</font>
00452 <font class="preprocessor"></font> <a class="code" href="classNLPACS_1_1CMoveContainer.html#o18">_VectorCell</a>[worldImage][elm->X+elm->Y*<a class="code" href="classNLPACS_1_1CMoveContainer.html#o16">_CellCountWidth</a>].updateSortedLists (elm, worldImage);
00453 <font class="preprocessor">#endif</font>
00454 <font class="preprocessor"></font>
00455 <font class="comment">// Check found cells</font>
00456 found[ elm->X - minx + ((elm->Y - miny) << (maxx-minx)) ]=<font class="keyword">true</font>;
00457 }
00458 }
00459 }
00460
00461 <font class="comment">// For each case selected</font>
00462 <font class="keywordtype">int</font> <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>;
00463 i=0;
00464 <font class="keywordflow">for</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>=miny; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a><=(int)maxy; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>++)
00465 <font class="keywordflow">for</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>=minx; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a><=(int)maxx; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>++)
00466 {
00467 <font class="comment">// Check the formula</font>
00468 <a class="code" href="debug_8h.html#a6">nlassert</a> ((<font class="keywordtype">int</font>)i == (<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a> - minx + ((<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a> - miny) << (maxx-minx)) ));
00469
00470 <font class="comment">// If the cell is not found</font>
00471 <font class="keywordflow">if</font> (!found[i])
00472 {
00473 <font class="comment">// Center of the cell</font>
00474 <font class="keywordtype">double</font> cx=((double)<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>+0.5f)*<a class="code" href="classNLPACS_1_1CMoveContainer.html#o14">_CellWidth</a>+<a class="code" href="classNLPACS_1_1CMoveContainer.html#o10">_Xmin</a>;
00475 <font class="keywordtype">double</font> cy=((double)<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>+0.5f)*<a class="code" href="classNLPACS_1_1CMoveContainer.html#o15">_CellHeight</a>+<a class="code" href="classNLPACS_1_1CMoveContainer.html#o11">_Ymin</a>;
00476
00477 <font class="comment">// Add it in the list</font>
00478 wI->addMoveElement (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o18">_VectorCell</a>[worldImage][<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CMoveContainer.html#o16">_CellCountWidth</a>], (uint16)<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, (uint16)<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, cx, cy, primitive, *<font class="keyword">this</font>, worldImage);
00479 }
00480
00481 <font class="comment">// Next cell</font>
00482 i++;
00483 }
00484 }
00485
00486 <font class="comment">// ***************************************************************************</font>
00487
<a name="l00488"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c3">00488</a> <font class="keywordtype">void</font> CMoveContainer::getCells (CMovePrimitive *primitive, uint8 worldImage, uint8 primitiveWorldImage, CMoveElement **elementArray)
00489 {
00490 <font class="comment">// H_AUTO(PACS_MC_getCells);</font>
00491
00492 <font class="comment">// Get the primitive world image</font>
00493 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI;
00494 <font class="keywordflow">if</font> (primitive->isNonCollisionable())
00495 wI=primitive->getWorldImage (0);
00496 <font class="keywordflow">else</font>
00497 wI=primitive->getWorldImage (primitiveWorldImage);
00498
00499 <font class="comment">// Check BB width not too large</font>
00500 <font class="keywordflow">if</font> (wI->getBBXMax() - wI->getBBXMin() > <a class="code" href="classNLPACS_1_1CMoveContainer.html#o14">_CellWidth</a>)
00501 {
00502 <a class="code" href="debug_8h.html#a2">nlwarning</a> (<font class="stringliteral">"Primitives have moved more than a cell."</font>);
00503 }
00504
00505 <font class="comment">// Check BB height not too large</font>
00506 <font class="keywordflow">if</font> (wI->getBBYMax() - wI->getBBYMin() > <a class="code" href="classNLPACS_1_1CMoveContainer.html#o15">_CellHeight</a>)
00507 {
00508 <a class="code" href="debug_8h.html#a2">nlwarning</a> (<font class="stringliteral">"Primitives have moved more than a cell."</font>);
00509 }
00510
00511 <font class="comment">// Get coordinate in the cell array</font>
00512 <font class="keywordtype">int</font> minx=(int)floor ((wI->getBBXMin() - <a class="code" href="classNLPACS_1_1CMoveContainer.html#o10">_Xmin</a>) / <a class="code" href="classNLPACS_1_1CMoveContainer.html#o14">_CellWidth</a>);
00513 <font class="keywordtype">int</font> miny=(int)floor ((wI->getBBYMin() - <a class="code" href="classNLPACS_1_1CMoveContainer.html#o11">_Ymin</a>) / <a class="code" href="classNLPACS_1_1CMoveContainer.html#o15">_CellHeight</a>);
00514 <font class="keywordtype">int</font> maxx=(int)floor ((wI->getBBXMax() - <a class="code" href="classNLPACS_1_1CMoveContainer.html#o10">_Xmin</a>) / <a class="code" href="classNLPACS_1_1CMoveContainer.html#o14">_CellWidth</a>);
00515 <font class="keywordtype">int</font> maxy=(int)floor ((wI->getBBYMax() - <a class="code" href="classNLPACS_1_1CMoveContainer.html#o11">_Ymin</a>) / <a class="code" href="classNLPACS_1_1CMoveContainer.html#o15">_CellHeight</a>);
00516
00517 <font class="comment">// Born</font>
00518 <font class="keywordflow">if</font> (minx<0)
00519 minx=0;
00520 <font class="keywordflow">if</font> (miny<0)
00521 miny=0;
00522 <font class="keywordflow">if</font> (maxx>=(int)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o16">_CellCountWidth</a>)
00523 maxx=(int)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o16">_CellCountWidth</a>-1;
00524 <font class="keywordflow">if</font> (maxy>=(int)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o17">_CellCountHeight</a>)
00525 maxy=(int)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o17">_CellCountHeight</a>-1;
00526
00527 maxx=<a class="code" href="bit__set_8cpp.html#a0">std::min</a> (minx+1, maxx);
00528 maxy=<a class="code" href="bit__set_8cpp.html#a0">std::min</a> (miny+1, maxy);
00529
00530 <font class="comment">// For each case selected</font>
00531 <font class="keywordtype">int</font> <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>;
00532 <font class="keywordtype">int</font> i=0;
00533 <font class="keywordflow">for</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>=miny; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a><=(int)maxy; <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>++)
00534 <font class="keywordflow">for</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>=minx; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a><=(int)maxx; <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>++)
00535 {
00536 <font class="comment">// Check the formula</font>
00537 <a class="code" href="debug_8h.html#a6">nlassert</a> ((<font class="keywordtype">int</font>)i == (<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a> - minx + ((<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a> - miny) << (maxx-minx)) ));
00538
00539 <font class="comment">// Center of the cell</font>
00540 <font class="keywordtype">double</font> cx=((double)<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>+0.5f)*<a class="code" href="classNLPACS_1_1CMoveContainer.html#o14">_CellWidth</a>+<a class="code" href="classNLPACS_1_1CMoveContainer.html#o10">_Xmin</a>;
00541
00542 <font class="comment">// Primitive center</font>
00543 <font class="keywordtype">double</font> pcx=(wI->getBBXMin()+wI->getBBXMax())/2.f;
00544
00545 elementArray[i]->Primitive=primitive;
00546 elementArray[i]->X=<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>;
00547 elementArray[i]->Y=<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>;
00548 <font class="comment">// Insert in left or right ?</font>
00549 <font class="keywordflow">if</font> (pcx<cx)
00550 {
00551 <font class="comment">// In the left</font>
00552 elementArray[i]->NextX=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o18">_VectorCell</a>[worldImage][<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CMoveContainer.html#o16">_CellCountWidth</a>].getFirstX ();
00553 elementArray[i]->PreviousX=NULL;
00554 }
00555 <font class="keywordflow">else</font>
00556 {
00557 <font class="comment">// In the right</font>
00558 elementArray[i]->PreviousX=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o18">_VectorCell</a>[worldImage][<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>+<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>*<a class="code" href="classNLPACS_1_1CMoveContainer.html#o16">_CellCountWidth</a>].getLastX ();
00559 elementArray[i]->NextX=NULL;
00560 }
00561
00562 <font class="comment">// Next cell</font>
00563 i++;
00564 }
00565
00566 <font class="comment">// Erase last array element</font>
00567 <font class="keywordflow">for</font> (; i<4; i++)
00568 {
00569 elementArray[i]=NULL;
00570 }
00571 }
00572
00573 <font class="comment">// ***************************************************************************</font>
00574
<a name="l00575"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c13">00575</a> <font class="keywordtype">void</font> CMoveContainer::clearModifiedList (uint8 worldImage)
00576 {
00577 <font class="comment">// For each changed primitives</font>
00578 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a> *<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o3">_ChangedRoot</a>[worldImage];
00579 <font class="keywordflow">while</font> (changed)
00580 {
00581 <font class="comment">// Get the world image primitive</font>
00582 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI;
00583 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>->isNonCollisionable())
00584 wI=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>->getWorldImage (0);
00585 <font class="keywordflow">else</font>
00586 wI=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>->getWorldImage (worldImage);
00587
00588 <font class="comment">// Next primitive</font>
00589 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>=wI->getNextModified ();
00590
00591 <font class="comment">// Remove it from the list</font>
00592 wI->setInModifiedListFlag (<font class="keyword">false</font>);
00593 }
00594
00595 <font class="comment">// Empty list</font>
00596 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o3">_ChangedRoot</a>[worldImage]=NULL;
00597 }
00598
00599 <font class="comment">// ***************************************************************************</font>
00600
<a name="l00601"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c15">00601</a> <font class="keywordtype">void</font> CMoveContainer::checkSortedList ()
00602 {
00603 <font class="comment">// Check each primitives in the set</font>
00604 std::set<CMovePrimitive*>::iterator ite=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o2">_PrimitiveSet</a>.begin();
00605 <font class="keywordflow">while</font> (ite!=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o2">_PrimitiveSet</a>.end())
00606 {
00607 <font class="comment">// Check</font>
00608 (*ite)->checkSortedList ();
00609
00610 ite++;
00611 }
00612 }
00613
00614 <font class="comment">// ***************************************************************************</font>
00615
<a name="l00616"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c6">00616</a> <font class="keywordtype">bool</font> CMoveContainer::evalOneTerrainCollision (<font class="keywordtype">double</font> beginTime, CMovePrimitive *primitive, uint8 primitiveWorldImage,
00617 <font class="keywordtype">bool</font> testMove, <font class="keywordtype">bool</font> &testMoveValid, CCollisionOTStaticInfo *staticColInfo, CVectorD *contactNormal)
00618 {
00619 <font class="comment">// H_AUTO(PACS_MC_evalOneCollision);</font>
00620
00621 <font class="comment">// Find its collisions</font>
00622 <font class="keywordtype">bool</font> found=<font class="keyword">false</font>;
00623
00624 <font class="comment">// Get the primitive world image</font>
00625 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI;
00626 <font class="keywordflow">if</font> (primitive->isNonCollisionable())
00627 wI=primitive->getWorldImage (0);
00628 <font class="keywordflow">else</font>
00629 wI=primitive->getWorldImage (primitiveWorldImage);
00630
00631 <font class="comment">// Begin time must be the same as beginTime</font>
00632 <a class="code" href="debug_8h.html#a6">nlassert</a> (wI->getInitTime()==beginTime);
00633
00634 <font class="comment">// Test its static collision</font>
00635 <font class="keywordflow">if</font> (_Retriever)
00636 {
00637 <font class="comment">// Delta pos..</font>
00638 <font class="comment">// Test retriever with the primitive</font>
00639 <font class="keyword">const</font> <a class="code" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> *result=wI->evalCollision (*<a class="code" href="classNLPACS_1_1CMoveContainer.html#o19">_Retriever</a>, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o20">_SurfaceTemp</a>, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o0">_TestTime</a>, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o1">_MaxTestIteration</a>, *primitive);
00640 <font class="keywordflow">if</font> (result)
00641 {
00642 <font class="comment">// TEST MOVE MUST BE OK !!</font>
00643 testMoveValid=<font class="keyword">true</font>;
00644
00645 <font class="comment">// Size of the array</font>
00646 uint size=result->size();
00647
00648 <font class="comment">// For each detected collisions</font>
00649 <font class="keywordflow">for</font> (uint c=0; c<size; c++)
00650 {
00651 <font class="comment">// Ref on the collision</font>
00652 CCollisionSurfaceDesc desc=(*result)[c];
00653 <font class="keywordtype">double</font> contactTime = (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>-beginTime)*desc.ContactTime+beginTime;
00654
00655 <font class="comment">/*</font>
00656 <font class="comment"> * If beginTime is 0.999999999 and desc.ContactTime<1.0, contactTime will be 1.0.</font>
00657 <font class="comment"> * In this case, we force contactTime to be beginTime to avoid collision at time == 1.0.</font>
00658 <font class="comment"> **/</font>
00659 <font class="keywordflow">if</font> ((contactTime >= 1.0) && (beginTime < 1.0) && (desc.ContactTime < 1.0))
00660 contactTime = beginTime;
00661
00662 <font class="comment">// Set the container's time space contact time</font>
00663 desc.ContactTime = contactTime;
00664
00665 <font class="comment">// ptr on the surface</font>
00666 <font class="keyword">const</font> CRetrievableSurface *surf= <a class="code" href="classNLPACS_1_1CMoveContainer.html#o19">_Retriever</a>->getSurfaceById (desc.ContactSurface);
00667
00668 <font class="comment">// TODO: check surface flags against primitive flags HERE:</font>
00669 <font class="comment">// Is a wall ?</font>
00670 <font class="keywordtype">bool</font> isWall;
00671 <font class="keywordflow">if</font>(!surf)
00672 isWall= <font class="keyword">true</font>;
00673 <font class="keywordflow">else</font>
00674 isWall= !(surf->isFloor() || surf->isCeiling());
00675
00676 <font class="comment">// stop on a wall.</font>
00677 <font class="keywordflow">if</font>(isWall)
00678 {
00679 <font class="comment">// Test move ?</font>
00680 <font class="keywordflow">if</font> (testMove)
00681 {
00682 <font class="comment">// return contact normal only when testmove and vector provided</font>
00683 <font class="keywordflow">if</font> (contactNormal)
00684 *contactNormal = desc.ContactNormal;
00685 <font class="keywordflow">return</font> <font class="keyword">true</font>;
00686 }
00687 <font class="keywordflow">else</font>
00688 {
00689 <font class="comment">// OK, collision if we are a collisionable primitive</font>
00690 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c10">newCollision</a> (primitive, desc, primitiveWorldImage, beginTime, staticColInfo);
00691
00692 <font class="comment">// One collision found</font>
00693 found=<font class="keyword">true</font>;
00694 <font class="keywordflow">break</font>;
00695 }
00696 }
00697 }
00698 }
00699 <font class="keywordflow">else</font>
00700 <font class="comment">// More than maxtest made, exit</font>
00701 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00702 }
00703 <font class="keywordflow">return</font> found;
00704 }
00705
00706 <font class="comment">// ***************************************************************************</font>
00707
<a name="l00708"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c7">00708</a> <font class="keywordtype">bool</font> CMoveContainer::evalOnePrimitiveCollision (<font class="keywordtype">double</font> beginTime, CMovePrimitive *primitive, uint8 worldImage, uint8 primitiveWorldImage,
00709 <font class="keywordtype">bool</font> testMove, <font class="keywordtype">bool</font> secondIsStatic, <font class="keywordtype">bool</font> &testMoveValid, CCollisionOTDynamicInfo *dynamicColInfo,
00710 CVectorD *contactNormal)
00711 {
00712 <font class="comment">// H_AUTO(PACS_MC_evalOneCollision);</font>
00713
00714 <font class="comment">// Find its collisions</font>
00715 <font class="keywordtype">bool</font> found=<font class="keyword">false</font>;
00716
00717 <font class="comment">// Get the primitive world image</font>
00718 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI;
00719 <font class="keywordflow">if</font> (primitive->isNonCollisionable())
00720 wI=primitive->getWorldImage (0);
00721 <font class="keywordflow">else</font>
00722 wI=primitive->getWorldImage (primitiveWorldImage);
00723
00724 <font class="comment">// Begin time must be the same as beginTime</font>
00725 <a class="code" href="debug_8h.html#a6">nlassert</a> (wI->getInitTime()==beginTime);
00726
00727 <font class="comment">// Element table</font>
00728 CMoveElement tableNotInserted[4];
00729 CMoveElement *table[4];
00730
00731 <font class="comment">// Single test ?</font>
00732 <font class="keywordtype">bool</font> singleTest=<a class="code" href="classNLPACS_1_1CMoveContainer.html#a14">testMove</a>;
00733
00734 <font class="comment">// Is in world image</font>
00735 <font class="keywordflow">if</font> ((worldImage==primitiveWorldImage) && wI->isInWorldImageFlag())
00736 {
00737 <font class="comment">// Get move element table from the primitive</font>
00738 table[0]=wI->getMoveElement (0);
00739 table[1]=wI->getMoveElement (1);
00740 table[2]=wI->getMoveElement (2);
00741 table[3]=wI->getMoveElement (3);
00742 }
00743 <font class="keywordflow">else</font>
00744 {
00745 <font class="comment">// Set table pointers</font>
00746 table[0]=tableNotInserted+0;
00747 table[1]=tableNotInserted+1;
00748 table[2]=tableNotInserted+2;
00749 table[3]=tableNotInserted+3;
00750
00751 <font class="comment">// Get cells</font>
00752 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c3">getCells</a> (primitive, worldImage, primitiveWorldImage, table);
00753
00754 <font class="comment">// Force the test</font>
00755 singleTest=<font class="keyword">true</font>;
00756 }
00757
00758 <font class="comment">// For each move element</font>
00759 <font class="keywordflow">for</font> (uint i=0; i<4; i++)
00760 {
00761 <font class="comment">// Get the element</font>
00762 CMoveElement *elm=table[i];
00763
00764 <font class="comment">// Element valid ?</font>
00765 <font class="keywordflow">if</font> (elm)
00766 {
00767 <font class="comment">// Check</font>
00768 <a class="code" href="debug_8h.html#a6">nlassert</a> (elm->Primitive==primitive);
00769 <font class="comment">// Primitive to the left</font>
00770
00771 <font class="comment">// Lookup in X sorted list on the left</font>
00772 CMoveElement *other=elm->PreviousX;
00773 <a class="code" href="debug_8h.html#a6">nlassert</a> (other!=elm);
00774
00775 <font class="keywordflow">while</font> (other && (wI->getBBXMin() - other->Primitive->getWorldImage(worldImage)->getBBXMin() < <a class="code" href="classNLPACS_1_1CMoveContainer.html#o9">_PrimitiveMaxSize</a>) )
00776 {
00777 <font class="comment">// Other primitive</font>
00778 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a> *otherPrimitive=other->Primitive;
00779 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *otherWI=otherPrimitive->getWorldImage (worldImage);
00780 <a class="code" href="debug_8h.html#a6">nlassert</a> (otherPrimitive!=primitive);
00781
00782 <font class="comment">// Continue the check if the other primitive is not int the modified list or if its pointer is higher than primitive</font>
00783 <font class="keywordflow">if</font> ( singleTest || ( (!otherWI->isInModifiedListFlag ()) || (primitive<otherPrimitive) ) )
00784 {
00785 <font class="comment">// Look if valid in X</font>
00786 <font class="keywordflow">if</font> (wI->getBBXMin() < otherWI->getBBXMax())
00787 {
00788 <font class="comment">// Look if valid in Y</font>
00789 <font class="keywordflow">if</font> ( (wI->getBBYMin() < otherWI->getBBYMax()) && (otherWI->getBBYMin() < wI->getBBYMax()) )
00790 {
00791 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#c8">evalPrimAgainstPrimCollision</a> (beginTime, primitive, otherPrimitive, wI, otherWI, <a class="code" href="classNLPACS_1_1CMoveContainer.html#a14">testMove</a>,
00792 primitiveWorldImage, worldImage, secondIsStatic, dynamicColInfo, contactNormal))
00793 {
00794 <font class="keywordflow">if</font> (testMove)
00795 <font class="keywordflow">return</font> <font class="keyword">true</font>;
00796 found=<font class="keyword">true</font>;
00797 }
00798 }
00799 }
00800 }
00801
00802 <font class="comment">// Next primitive to the left</font>
00803 other = other->PreviousX;
00804 }
00805
00806 <font class="comment">// Lookup in X sorted list on the right</font>
00807 other=elm->NextX;
00808
00809 <font class="comment">// Primitive to the right</font>
00810 <font class="keywordflow">while</font> (other && (other->Primitive->getWorldImage(worldImage)->getBBXMin() < wI->getBBXMax()) )
00811 {
00812 <font class="comment">// Other primitive</font>
00813 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a> *otherPrimitive=other->Primitive;
00814 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *otherWI=otherPrimitive->getWorldImage (worldImage);
00815 <a class="code" href="debug_8h.html#a6">nlassert</a> (otherPrimitive!=primitive);
00816
00817 <font class="comment">// Continue the check if the other primitive is not in the modified list or if its pointer is higher than primitive</font>
00818 <font class="keywordflow">if</font> ( singleTest || ( (!otherWI->isInModifiedListFlag ()) || (primitive<otherPrimitive) ) )
00819 {
00820 <font class="comment">// Look if valid in Y</font>
00821 <font class="keywordflow">if</font> ( (wI->getBBYMin() < otherWI->getBBYMax()) && (otherWI->getBBYMin() < wI->getBBYMax()) )
00822 {
00823 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#c8">evalPrimAgainstPrimCollision</a> (beginTime, primitive, otherPrimitive, wI, otherWI, <a class="code" href="classNLPACS_1_1CMoveContainer.html#a14">testMove</a>,
00824 primitiveWorldImage, worldImage, secondIsStatic, dynamicColInfo, contactNormal))
00825 {
00826 <font class="keywordflow">if</font> (testMove)
00827 <font class="keywordflow">return</font> <font class="keyword">true</font>;
00828 found=<font class="keyword">true</font>;
00829 }
00830 }
00831 }
00832
00833 <font class="comment">// Next primitive to the left</font>
00834 other = other->NextX;
00835 }
00836 }
00837 }
00838
00839 <font class="keywordflow">return</font> found;
00840 }
00841
00842 <font class="comment">// ***************************************************************************</font>
00843
<a name="l00844"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c8">00844</a> <font class="keywordtype">bool</font> CMoveContainer::evalPrimAgainstPrimCollision (<font class="keywordtype">double</font> beginTime, CMovePrimitive *primitive, CMovePrimitive *otherPrimitive,
00845 CPrimitiveWorldImage *wI, CPrimitiveWorldImage *otherWI, <font class="keywordtype">bool</font> testMove,
00846 uint8 firstWorldImage, uint8 secondWorldImage, <font class="keywordtype">bool</font> secondIsStatic, CCollisionOTDynamicInfo *dynamicColInfo,
00847 CVectorD *contactNormal)
00848 {
00849 <font class="comment">// H_AUTO(PACS_MC_evalPrimAgainstPrimCollision);</font>
00850
00851 <font class="comment">// Test the primitive</font>
00852 <font class="keywordtype">double</font> firstTime, lastTime;
00853
00854 <font class="comment">// Collision</font>
00855 CCollisionDesc desc;
00856 <font class="keywordflow">if</font> (wI->evalCollision (*otherWI, desc, beginTime, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o0">_TestTime</a>, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o1">_MaxTestIteration</a>,
00857 firstTime, lastTime, *primitive, *otherPrimitive))
00858 {
00859 <font class="comment">// Enter or exit</font>
00860 <font class="keywordtype">bool</font> enter = (beginTime<=firstTime) && (firstTime<<a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>);
00861 <font class="keywordtype">bool</font> exit = (beginTime<=lastTime) && (lastTime<<a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>);
00862 <font class="keywordtype">bool</font> overlap = (firstTime<=beginTime) && (lastTime><a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>);
00863 <font class="keywordtype">bool</font> collision = ( beginTime<=((firstTime+lastTime)/2) ) && (firstTime<=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>);
00864
00865 <font class="comment">// Return collision time</font>
00866
00867 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#a14">testMove</a> && collision)
00868 <font class="keywordflow">return</font> <font class="keyword">true</font>;
00869 <font class="keywordflow">else</font>
00870 {
00871 <font class="comment">// TODO: make new collision when collision==false to raise triggers</font>
00872
00881 <font class="keywordflow">if</font> (primitive->isNonCollisionable () && (enter || exit || overlap))
00882 {
00883 <font class="keywordflow">if</font> (primitive->isTriggered (*otherPrimitive, enter, exit))
00884 {
00885 <font class="comment">// Add a trigger</font>
00886 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c12">newTrigger</a> (primitive, otherPrimitive, desc, enter ? UTriggerInfo::In : exit ? UTriggerInfo::Out : UTriggerInfo::Inside);
00887 }
00888
00889 <font class="comment">// If the other primitive is not an obstacle, skip it because it will re-generate collisions.</font>
00890 <font class="keywordflow">if</font> (!otherPrimitive->isObstacle ())
00891 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00892 }
00893
00894 <font class="comment">// OK, collision</font>
00895 <font class="keywordflow">if</font> (collision)
00896 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c10">newCollision</a> (primitive, otherPrimitive, desc, collision, enter, exit, firstWorldImage, secondWorldImage, secondIsStatic,
00897 dynamicColInfo);
00898
00899 <font class="comment">// Collision</font>
00900 <font class="keywordflow">return</font> collision;
00901 }
00902 }
00903 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00904 }
00905
00906 <font class="comment">// ***************************************************************************</font>
00907
<a name="l00908"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c9">00908</a> <font class="keywordtype">void</font> CMoveContainer::evalAllCollisions (<font class="keywordtype">double</font> beginTime, uint8 worldImage)
00909 {
00910 <font class="comment">// H_AUTO(PACS_MC_evalAllCollisions);</font>
00911
00912 <font class="comment">// First primitive</font>
00913 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a> *primitive=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o3">_ChangedRoot</a>[worldImage];
00914
00915 <font class="comment">// For each modified primitive</font>
00916 <font class="keywordflow">while</font> (primitive)
00917 {
00918 <font class="comment">// Get the primitive world image</font>
00919 uint8 primitiveWorldImage;
00920 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI;
00921 <font class="keywordflow">if</font> (primitive->isNonCollisionable ())
00922 {
00923 wI=primitive->getWorldImage (0);
00924 primitiveWorldImage=worldImage;
00925 }
00926 <font class="keywordflow">else</font>
00927 {
00928 wI=primitive->getWorldImage (worldImage);
00929 primitiveWorldImage=worldImage;
00930 }
00931
00932 CVectorD d0=wI->getDeltaPosition();
00933
00934 <font class="comment">// Find a collision</font>
00935 <font class="keywordtype">bool</font> found=<font class="keyword">false</font>;
00936 <font class="keywordtype">bool</font> testMoveValid=<font class="keyword">false</font>;
00937
00938 <font class="comment">// Eval collision on the terrain</font>
00939 found|=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c6">evalOneTerrainCollision</a> (beginTime, primitive, primitiveWorldImage, <font class="keyword">false</font>, testMoveValid, NULL, NULL);
00940
00941 <font class="comment">// Eval collision in each static world image</font>
00942 std::set<uint8>::iterator ite=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o4">_StaticWorldImage</a>.begin();
00943 <font class="keywordflow">while</font> (ite!=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o4">_StaticWorldImage</a>.end())
00944 {
00945 <font class="comment">// Eval in this world image</font>
00946 found|=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c7">evalOnePrimitiveCollision</a> (beginTime, primitive, *ite, primitiveWorldImage, <font class="keyword">false</font>, <font class="keyword">true</font>, testMoveValid, NULL, NULL);
00947
00948 <font class="comment">// Next world image</font>
00949 ite++;
00950 }
00951
00952 CVectorD d1=wI->getDeltaPosition();
00953
00954 <font class="comment">// Eval collision in the world image if not already tested</font>
00955 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o4">_StaticWorldImage</a>.find (worldImage)==<a class="code" href="classNLPACS_1_1CMoveContainer.html#o4">_StaticWorldImage</a>.end())
00956 found|=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c7">evalOnePrimitiveCollision</a> (beginTime, primitive, worldImage, primitiveWorldImage, <font class="keyword">false</font>, <font class="keyword">false</font>, testMoveValid, NULL, NULL);
00957
00958 CVectorD d2=wI->getDeltaPosition();
00959
00960 <font class="comment">// No collision ?</font>
00961 <font class="keywordflow">if</font> (!found)
00962 {
00963 <a class="code" href="debug_8h.html#a6">nlassert</a> ((d0==d1)&&(d0==d2));
00964 <font class="comment">// nlassert (f1==f2);</font>
00965 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o19">_Retriever</a>&&testMoveValid)
00966 {
00967 <font class="comment">// Do move</font>
00968 wI->doMove (*<a class="code" href="classNLPACS_1_1CMoveContainer.html#o19">_Retriever</a>, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o20">_SurfaceTemp</a>, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>, primitive->getDontSnapToGround());
00969 }
00970 <font class="keywordflow">else</font>
00971 {
00972 <font class="comment">// Do move</font>
00973 wI->doMove (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>);
00974 }
00975 }
00976
00977 <font class="comment">// Next primitive</font>
00978 primitive=wI->getNextModified ();
00979 }
00980 }
00981
00982 <font class="comment">// ***************************************************************************</font>
00983
<a name="l00984"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c10">00984</a> <font class="keywordtype">void</font> CMoveContainer::newCollision (CMovePrimitive* first, CMovePrimitive* second, <font class="keyword">const</font> CCollisionDesc& desc, <font class="keywordtype">bool</font> collision, <font class="keywordtype">bool</font> enter, <font class="keywordtype">bool</font> exit,
00985 uint firstWorldImage, uint secondWorldImage, <font class="keywordtype">bool</font> secondIsStatic, CCollisionOTDynamicInfo *dynamicColInfo)
00986 {
00987 <font class="comment">// H_AUTO(PACS_MC_newCollision_short);</font>
00988
00989 <a class="code" href="debug_8h.html#a6">nlassert</a> ((dynamicColInfo && first->isNonCollisionable ()) || (!dynamicColInfo && first->isCollisionable ()));
00990
00991 <font class="keywordflow">if</font> (dynamicColInfo)
00992 {
00993 dynamicColInfo->init (first, second, desc, collision, enter, exit, firstWorldImage, secondWorldImage, secondIsStatic);
00994 }
00995 <font class="keywordflow">else</font>
00996 {
00997 <font class="comment">// Get an ordered time index. Always round to the future.</font>
00998 <font class="keywordtype">int</font> <a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>=(int)(ceil (desc.ContactTime*(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o5">_OtSize</a>/<a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>) );
00999
01000 <font class="comment">// Clamp left.</font>
01001 <font class="keywordflow">if</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a><0)
01002 <a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>=0;
01003
01004 <font class="comment">// If in time</font>
01005 <font class="keywordflow">if</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a><(int)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o5">_OtSize</a>)
01006 {
01007 <font class="comment">// Build info</font>
01008 CCollisionOTDynamicInfo *info = <a class="code" href="classNLPACS_1_1CMoveContainer.html#c16">allocateOTDynamicInfo</a> ();
01009 info->init (first, second, desc, collision, enter, exit, firstWorldImage, secondWorldImage, secondIsStatic);
01010
01011 <font class="comment">// Add in the primitive list</font>
01012 first->addCollisionOTInfo (info);
01013 second->addCollisionOTInfo (info);
01014
01015 <font class="comment">// Insert in the time ordered table</font>
01016 <a class="code" href="debug_8h.html#a6">nlassert</a> (<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a><(<font class="keywordtype">int</font>)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>.size());
01017 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>].link (info);
01018
01019 <font class="comment">// Check it is after the last hard collision</font>
01020 <a class="code" href="debug_8h.html#a6">nlassert</a> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o7">_PreviousCollisionNode</a><=&<a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>]);
01021 }
01022 }
01023 }
01024
01025 <font class="comment">// ***************************************************************************</font>
01026
<a name="l01027"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c11">01027</a> <font class="keywordtype">void</font> CMoveContainer::newCollision (CMovePrimitive* first, <font class="keyword">const</font> CCollisionSurfaceDesc& desc, uint8 worldImage, <font class="keywordtype">double</font> beginTime, CCollisionOTStaticInfo *staticColInfo)
01028 {
01029 <font class="comment">// H_AUTO(PACS_MC_newCollision_long);</font>
01030
01031 <font class="comment">// Check</font>
01032 <a class="code" href="debug_8h.html#a6">nlassert</a> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o19">_Retriever</a>);
01033 <a class="code" href="debug_8h.html#a6">nlassert</a> ((staticColInfo && first->isNonCollisionable ()) || (!staticColInfo && first->isCollisionable ()));
01034
01035 <font class="comment">// Get the world image</font>
01036 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI;
01037 <font class="keywordflow">if</font> (first->isNonCollisionable())
01038 wI=first->getWorldImage (0);
01039 <font class="keywordflow">else</font>
01040 wI=first->getWorldImage (worldImage);
01041
01042 <font class="comment">// Time</font>
01043 <font class="keywordtype">double</font> time=desc.ContactTime;
01044 <font class="comment">/*</font>
01045 <font class="comment"> if (time == _DeltaTime)</font>
01046 <font class="comment"> time -= _DeltaTime*FLT_EPSILON;</font>
01047 <font class="comment">*/</font>
01048
01049 <font class="comment">// Check time interval</font>
01050 <a class="code" href="debug_8h.html#a8">nlassertex</a> (beginTime<=time, (<font class="stringliteral">"beginTime=%f, time=%f"</font>, beginTime, time));
01051 <a class="code" href="debug_8h.html#a8">nlassertex</a> (time<<a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>, (<font class="stringliteral">"time=%f, _DeltaTime=%f"</font>, time, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>));
01052
01053 <font class="comment">// Time of the collision.</font>
01054 time-=<a class="code" href="move__primitive_8h.html#a0">NELPACS_DIST_BACK</a>/wI->getSpeed().norm();
01055 time=std::max(time, beginTime);
01056 <font class="keywordtype">double</font> ratio=(time-beginTime)/(<a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>-beginTime);
01057 <a class="code" href="debug_8h.html#a6">nlassert</a> (ratio>=0);
01058 <a class="code" href="debug_8h.html#a6">nlassert</a> (ratio<=1);
01059
01060 <font class="keywordflow">if</font> (staticColInfo)
01061 {
01062 <font class="comment">// Make a new globalposition</font>
01063 UGlobalPosition endPosition=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o19">_Retriever</a>->doMove (wI->getGlobalPosition(), wI->getDeltaPosition(),
01064 (float)ratio, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o20">_SurfaceTemp</a>, <font class="keyword">false</font>);
01065
01066 <font class="comment">// Init the info descriptor</font>
01067 staticColInfo->init (first, desc, endPosition, ratio, worldImage);
01068 }
01069 <font class="keywordflow">else</font>
01070 {
01071 <font class="comment">// Get an ordered time index. Always round to the future.</font>
01072 <font class="keywordtype">int</font> <a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>=(int)(ceil (time*(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o5">_OtSize</a>/<a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>) );
01073
01074 <font class="comment">// Clamp left.</font>
01075 <font class="keywordflow">if</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a><0)
01076 <a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>=0;
01077
01078 <font class="comment">// If in time</font>
01079 <font class="keywordflow">if</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a><(int)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o5">_OtSize</a>)
01080 {
01081 <font class="comment">// Build info</font>
01082 CCollisionOTStaticInfo *info = <a class="code" href="classNLPACS_1_1CMoveContainer.html#c17">allocateOTStaticInfo</a> ();
01083
01084 <font class="comment">// Make a new globalposition</font>
01085 UGlobalPosition endPosition=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o19">_Retriever</a>->doMove (wI->getGlobalPosition(), wI->getDeltaPosition(),
01086 (float)ratio, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o20">_SurfaceTemp</a>, <font class="keyword">false</font>);
01087
01088 <font class="comment">// Init the info descriptor</font>
01089 info->init (first, desc, endPosition, ratio, worldImage);
01090
01091 <font class="comment">// Add in the primitive list</font>
01092 first->addCollisionOTInfo (info);
01093
01094 <font class="comment">// Insert in the time ordered table</font>
01095 <a class="code" href="debug_8h.html#a6">nlassert</a> (<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a><(<font class="keywordtype">int</font>)<a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>.size());
01096 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>].link (info);
01097
01098 <font class="comment">// Check it is after the last hard collision</font>
01099 <a class="code" href="debug_8h.html#a6">nlassert</a> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o7">_PreviousCollisionNode</a><=&<a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>]);
01100 }
01101 }
01102 }
01103
01104 <font class="comment">// ***************************************************************************</font>
01105
<a name="l01106"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c12">01106</a> <font class="keywordtype">void</font> CMoveContainer::newTrigger (CMovePrimitive* first, CMovePrimitive* second, <font class="keyword">const</font> CCollisionDesc& desc, uint triggerType)
01107 {
01108 <font class="comment">// Element index</font>
01109 uint <a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o21">_Triggers</a>.size();
01110
01111 <font class="comment">// Add one element</font>
01112 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o21">_Triggers</a>.resize (<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>+1);
01113
01114 <font class="comment">// Fill info</font>
01115 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o21">_Triggers</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>].Object0=first->UserData;
01116 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o21">_Triggers</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>].Object1=second->UserData;
01117 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o21">_Triggers</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>].CollisionDesc=desc;
01118 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o21">_Triggers</a>[<a class="code" href="driver__opengl__extension__def_8h.html#a358">index</a>].CollisionType = triggerType;
01119 }
01120
01121 <font class="comment">// ***************************************************************************</font>
01122
<a name="l01123"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c5">01123</a> <font class="keywordtype">void</font> CMoveContainer::checkOT ()
01124 {
01125 <font class="comment">// Check</font>
01126 <a class="code" href="debug_8h.html#a6">nlassert</a> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o5">_OtSize</a>==<a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>.size());
01127
01128 <font class="comment">// Check linked list</font>
01129 <font class="keywordflow">for</font> (uint i=0; i<<a class="code" href="classNLPACS_1_1CMoveContainer.html#o5">_OtSize</a>-1; i++)
01130 {
01131 <font class="comment">// Check link</font>
01132 <a class="code" href="debug_8h.html#a6">nlassert</a> ( <a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>[i].getNext() == (&(<a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>[i+1])) );
01133 <a class="code" href="debug_8h.html#a6">nlassert</a> ( <a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>[i+1].getPrevious() == (&(<a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>[i])) );
01134 }
01135
01136 <font class="comment">// Check first and last</font>
01137 <a class="code" href="debug_8h.html#a6">nlassert</a> ( <a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>[0].getPrevious() == NULL );
01138 <a class="code" href="debug_8h.html#a6">nlassert</a> ( <a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>[<a class="code" href="classNLPACS_1_1CMoveContainer.html#o5">_OtSize</a>-1].getNext() == NULL );
01139 }
01140
01141 <font class="comment">// ***************************************************************************</font>
01142
<a name="l01143"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c4">01143</a> <font class="keywordtype">void</font> CMoveContainer::clearOT ()
01144 {
01145 <font class="comment">// Check</font>
01146 <a class="code" href="debug_8h.html#a6">nlassert</a> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o5">_OtSize</a>==<a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>.size());
01147
01148 <font class="comment">// clear the list</font>
01149 uint i;
01150 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CMoveContainer.html#o5">_OtSize</a>; i++)
01151 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>[i].clear ();
01152
01153 <font class="comment">// Relink the list</font>
01154 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CMoveContainer.html#o5">_OtSize</a>-1; i++)
01155 <font class="comment">// Link the two cells</font>
01156 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>[i].link (&(<a class="code" href="classNLPACS_1_1CMoveContainer.html#o6">_TimeOT</a>[i+1]));
01157 }
01158
01159 <font class="comment">// ***************************************************************************</font>
01160
<a name="l01161"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c14">01161</a> <font class="keywordtype">void</font> CMoveContainer::removeModifiedFromOT (uint8 worldImage)
01162 {
01163 <font class="comment">// For each changed primitives</font>
01164 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a> *<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o3">_ChangedRoot</a>[worldImage];
01165 <font class="keywordflow">while</font> (changed)
01166 {
01167 <font class="comment">// Remove from ot list</font>
01168 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>->removeCollisionOTInfo ();
01169
01170 <font class="comment">// Get the primitive world image</font>
01171 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI;
01172 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>->isNonCollisionable())
01173 wI=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>->getWorldImage (0);
01174 <font class="keywordflow">else</font>
01175 wI=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>->getWorldImage (worldImage);
01176
01177 <font class="comment">// Next primitive</font>
01178 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>=wI->getNextModified ();
01179 }
01180 }
01181
01182 <font class="comment">// ***************************************************************************</font>
01183
<a name="l01184"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c16">01184</a> CCollisionOTDynamicInfo *CMoveContainer::allocateOTDynamicInfo ()
01185 {
01186 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CMoveContainer.html#o22">_AllocOTDynamicInfo</a>.<a class="code" href="classNLMISC_1_1CPoolMemory.html#a1">allocate</a> ();
01187 }
01188
01189 <font class="comment">// ***************************************************************************</font>
01190
<a name="l01191"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c17">01191</a> CCollisionOTStaticInfo *CMoveContainer::allocateOTStaticInfo ()
01192 {
01193 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CMoveContainer.html#o23">_AllocOTStaticInfo</a>.<a class="code" href="classNLMISC_1_1CPoolMemory.html#a1">allocate</a> ();
01194 }
01195
01196 <font class="comment">// ***************************************************************************</font>
01197
01198 <font class="comment">// Free all ordered table info</font>
<a name="l01199"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c18">01199</a> <font class="keywordtype">void</font> CMoveContainer::freeAllOTInfo ()
01200 {
01201 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o22">_AllocOTDynamicInfo</a>.<a class="code" href="classNLMISC_1_1CPoolMemory.html#a2">free</a> ();
01202 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o23">_AllocOTStaticInfo</a>.<a class="code" href="classNLMISC_1_1CPoolMemory.html#a2">free</a> ();
01203 }
01204
01205 <font class="comment">// ***************************************************************************</font>
01206
<a name="l01207"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c19">01207</a> CMovePrimitive *CMoveContainer::allocatePrimitive (uint8 firstWorldImage, uint8 numWorldImage)
01208 {
01209 <font class="comment">// Simply allocate</font>
01210 <font class="keywordflow">return</font> <font class="keyword">new</font> <a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a> (<font class="keyword">this</font>, firstWorldImage, numWorldImage);
01211 }
01212
01213 <font class="comment">// ***************************************************************************</font>
01214
<a name="l01215"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c20">01215</a> <font class="keywordtype">void</font> CMoveContainer::freePrimitive (CMovePrimitive *primitive)
01216 {
01217 <font class="comment">// Simply deallocate</font>
01218 <font class="keyword">delete</font> primitive;
01219 }
01220
01221 <font class="comment">// ***************************************************************************</font>
01222
<a name="l01223"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c21">01223</a> CPrimitiveWorldImage **CMoveContainer::allocateWorldImagesPtrs (uint numPtrs)
01224 {
01225 <font class="keywordflow">return</font> <font class="keyword">new</font> <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a>*[numPtrs];
01226 }
01227
01228 <font class="comment">// ***************************************************************************</font>
01229
<a name="l01230"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c22">01230</a> <font class="keywordtype">void</font> CMoveContainer::freeWorldImagesPtrs (CPrimitiveWorldImage **ptrs)
01231 {
01232 <font class="keyword">delete</font> [] ptrs;
01233 }
01234
01235 <font class="comment">// ***************************************************************************</font>
01236
<a name="l01237"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c23">01237</a> CPrimitiveWorldImage *CMoveContainer::allocateWorldImage ()
01238 {
01239 <font class="keywordflow">return</font> <font class="keyword">new</font> <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a>;
01240 }
01241
01242 <font class="comment">// ***************************************************************************</font>
01243
<a name="l01244"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c24">01244</a> <font class="keywordtype">void</font> CMoveContainer::freeWorldImage (CPrimitiveWorldImage *worldImage)
01245 {
01246 <font class="keyword">delete</font> worldImage;
01247 }
01248
01249 <font class="comment">// ***************************************************************************</font>
01250
<a name="l01251"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a15">01251</a> CMoveElement *CMoveContainer::allocateMoveElement ()
01252 {
01253 <font class="comment">// Simply allocate</font>
01254 <font class="keywordflow">return</font> <font class="keyword">new</font> CMoveElement;
01255 }
01256
01257 <font class="comment">// ***************************************************************************</font>
01258
<a name="l01259"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a16">01259</a> <font class="keywordtype">void</font> CMoveContainer::freeMoveElement (CMoveElement *element)
01260 {
01261 <font class="comment">// Simply deallocate</font>
01262 <font class="keyword">delete</font> element;
01263 }
01264
01265 <font class="comment">// ***************************************************************************</font>
01266
<a name="l01267"></a><a class="code" href="classNLPACS_1_1UMoveContainer.html#d2">01267</a> <font class="keywordtype">void</font> UMoveContainer::deleteMoveContainer (UMoveContainer *container)
01268 {
01269 <font class="keyword">delete</font> (CMoveContainer*)container;
01270 }
01271
01272 <font class="comment">// ***************************************************************************</font>
01273
<a name="l01274"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a5">01274</a> UMovePrimitive *CMoveContainer::addCollisionablePrimitive (uint8 firstWorldImage, uint8 numWorldImage, <font class="keyword">const</font> UMovePrimitive *copyFrom)
01275 {
01276 NL_ALLOC_CONTEXT( Pacs )
01277
01278 <font class="comment">// Allocate primitive</font>
01279 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a> *primitive=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c19">allocatePrimitive</a> (firstWorldImage, numWorldImage);
01280
01281 <font class="comment">// Add into the set</font>
01282 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o2">_PrimitiveSet</a>.insert (primitive);
01283
01284 <font class="comment">// if copy from primitive is not null, copy attributes</font>
01285 <font class="keywordflow">if</font> (copyFrom != NULL)
01286 {
01287 primitive->setPrimitiveType(copyFrom->getPrimitiveType());
01288 primitive->setReactionType(copyFrom->getReactionType());
01289 primitive->setTriggerType(copyFrom->getTriggerType());
01290 primitive->setCollisionMask(copyFrom->getCollisionMask());
01291 primitive->setOcclusionMask(copyFrom->getOcclusionMask());
01292 primitive->setObstacle(copyFrom->getObstacle());
01293 primitive->setAbsorbtion(copyFrom->getAbsorbtion());
01294 primitive->setHeight(copyFrom->getHeight());
01295 <font class="keywordflow">if</font> (primitive->getPrimitiveType() == UMovePrimitive::_2DOrientedBox)
01296 {
01297 <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a389">width</a>=0.0f, <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>=0.0f;
01298 copyFrom->getSize(<a class="code" href="driver__opengl__extension__def_8h.html#a389">width</a>, <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>);
01299 primitive->setSize(<a class="code" href="driver__opengl__extension__def_8h.html#a389">width</a>, <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>);
01300 }
01301 <font class="keywordflow">else</font>
01302 {
01303 primitive->setRadius(copyFrom->getRadius());
01304 }
01305 }
01306
01307 <font class="comment">// Return it</font>
01308 <font class="keywordflow">return</font> primitive;
01309 }
01310
01311 <font class="comment">// ***************************************************************************</font>
01312
<a name="l01313"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a6">01313</a> UMovePrimitive *CMoveContainer::addNonCollisionablePrimitive (<font class="keyword">const</font> UMovePrimitive *copyFrom)
01314 {
01315 NL_ALLOC_CONTEXT( Pacs )
01316
01317 <font class="comment">// Allocate primitive</font>
01318 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a> *primitive=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c19">allocatePrimitive</a> (0, 1);
01319
01320 <font class="comment">// Set as noncollisionable</font>
01321 primitive->setNonCollisionable (<font class="keyword">true</font>);
01322
01323 <font class="comment">// Add into the set</font>
01324 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o2">_PrimitiveSet</a>.insert (primitive);
01325
01326 <font class="comment">// if copy from primitive is not null, copy attributes</font>
01327 <font class="keywordflow">if</font> (copyFrom != NULL)
01328 {
01329 primitive->setPrimitiveType(copyFrom->getPrimitiveType());
01330 primitive->setReactionType(copyFrom->getReactionType());
01331 primitive->setTriggerType(copyFrom->getTriggerType());
01332 primitive->setCollisionMask(copyFrom->getCollisionMask());
01333 primitive->setOcclusionMask(copyFrom->getOcclusionMask());
01334 primitive->setObstacle(copyFrom->getObstacle());
01335 primitive->setAbsorbtion(copyFrom->getAbsorbtion());
01336 primitive->setHeight(copyFrom->getHeight());
01337 <font class="keywordflow">if</font> (primitive->getPrimitiveType() == UMovePrimitive::_2DOrientedBox)
01338 {
01339 <font class="keywordtype">float</font> <a class="code" href="driver__opengl__extension__def_8h.html#a389">width</a>=0.0f, <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>=0.0f;
01340 copyFrom->getSize(<a class="code" href="driver__opengl__extension__def_8h.html#a389">width</a>, <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>);
01341 primitive->setSize(<a class="code" href="driver__opengl__extension__def_8h.html#a389">width</a>, <a class="code" href="driver__opengl__extension__def_8h.html#a390">height</a>);
01342 }
01343 <font class="keywordflow">else</font>
01344 {
01345 primitive->setRadius(copyFrom->getRadius());
01346 }
01347 }
01348
01349 <font class="comment">// Return it</font>
01350 <font class="keywordflow">return</font> primitive;
01351 }
01352
01353 <font class="comment">// ***************************************************************************</font>
01354
<a name="l01355"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a11">01355</a> <font class="keywordtype">void</font> CMoveContainer::removePrimitive (UMovePrimitive* primitive)
01356 {
01357 NL_ALLOC_CONTEXT( Pacs )
01358
01359 <font class="comment">// CMovePrimitive pointer</font>
01360 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a> *prim=(<a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a>*)primitive;
01361
01362 <font class="comment">// Get the primitive world image</font>
01363 <font class="keywordflow">for</font> (uint8 i=0; i<prim->getNumWorldImage (); i++)
01364 {
01365 <font class="comment">// World image</font>
01366 uint8 worldImage=prim->getFirstWorldImage ()+i;
01367
01368 <font class="comment">// Get primitive world image</font>
01369 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI=prim->getWorldImage (worldImage);
01370
01371 <font class="comment">// In modified list ?</font>
01372 <font class="keywordflow">if</font> (wI->isInModifiedListFlag ())
01373 {
01374 <font class="comment">// Non collisionable primitive ?</font>
01375 <font class="keywordflow">if</font> (prim->isNonCollisionable())
01376 {
01377 <font class="comment">// Remove from all world image</font>
01378 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c27">removeNCFromModifiedList</a> (prim, worldImage);
01379 }
01380 <font class="keywordflow">else</font>
01381 {
01382 <font class="comment">// Remove from modified list</font>
01383 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c26">removeFromModifiedList</a> (prim, worldImage);
01384 }
01385 }
01386 }
01387
01388 <font class="comment">// Remove from the set</font>
01389 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o2">_PrimitiveSet</a>.erase (prim);
01390
01391 <font class="comment">// Erase it</font>
01392 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c20">freePrimitive</a> (prim);
01393 }
01394
01395 <font class="comment">// ***************************************************************************</font>
01396
<a name="l01397"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c27">01397</a> <font class="keywordtype">void</font> CMoveContainer::removeNCFromModifiedList (CMovePrimitive* primitive, uint8 worldImage)
01398 {
01399 <font class="comment">// For each world image</font>
01400 uint i;
01401 uint worldImageCount = <a class="code" href="classNLPACS_1_1CMoveContainer.html#o3">_ChangedRoot</a>.size();
01402 <font class="keywordflow">for</font> (i=0; i<worldImageCount; i++)
01403 {
01404 <font class="comment">// For each changed primitives</font>
01405 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a> *<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o3">_ChangedRoot</a>[i];
01406 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *previous=NULL;
01407 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI=primitive->getWorldImage (worldImage);
01408
01409 <font class="keywordflow">while</font> (changed)
01410 {
01411 <font class="comment">// Get the primitive world image</font>
01412 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *changedWI=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>->getWorldImage (worldImage);
01413
01414 <font class="comment">// Remove from ot list</font>
01415 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>==primitive)
01416 {
01417 <font class="comment">// There is a previous primitive ?</font>
01418 <font class="keywordflow">if</font> (previous)
01419 previous->linkInModifiedList (wI->getNextModified ());
01420 <font class="keywordflow">else</font>
01421 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o3">_ChangedRoot</a>[i]=wI->getNextModified ();
01422
01423 <font class="comment">// Unlink</font>
01424 wI->linkInModifiedList (NULL);
01425 wI->setInModifiedListFlag (<font class="keyword">false</font>);
01426 <font class="keywordflow">break</font>;
01427 }
01428
01429 <font class="comment">// Next primitive</font>
01430 previous=changedWI;
01431 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>=changedWI->getNextModified ();
01432 }
01433
01434 <font class="comment">// Breaked ?</font>
01435 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>==primitive)
01436 <font class="keywordflow">break</font>;
01437 }
01438 }
01439
01440 <font class="comment">// ***************************************************************************</font>
01441
<a name="l01442"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c26">01442</a> <font class="keywordtype">void</font> CMoveContainer::removeFromModifiedList (CMovePrimitive* primitive, uint8 worldImage)
01443 {
01444 <font class="comment">// For each changed primitives</font>
01445 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a> *<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o3">_ChangedRoot</a>[worldImage];
01446 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *previous=NULL;
01447 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI=primitive->getWorldImage (worldImage);
01448
01449 <font class="keywordflow">while</font> (changed)
01450 {
01451 <font class="comment">// Get the primitive world image</font>
01452 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *changedWI=<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>->getWorldImage (worldImage);
01453
01454 <font class="comment">// Remove from ot list</font>
01455 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>==primitive)
01456 {
01457 <font class="comment">// There is a previous primitive ?</font>
01458 <font class="keywordflow">if</font> (previous)
01459 previous->linkInModifiedList (wI->getNextModified ());
01460 <font class="keywordflow">else</font>
01461 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o3">_ChangedRoot</a>[worldImage]=wI->getNextModified ();
01462
01463 <font class="comment">// Unlink</font>
01464 wI->linkInModifiedList (NULL);
01465 wI->setInModifiedListFlag (<font class="keyword">false</font>);
01466 <font class="keywordflow">break</font>;
01467 }
01468
01469 <font class="comment">// Next primitive</font>
01470 previous=changedWI;
01471 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c25">changed</a>=changedWI->getNextModified ();
01472 }
01473 }
01474
01475 <font class="comment">// ***************************************************************************</font>
01476
<a name="l01477"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c28">01477</a> <font class="keywordtype">void</font> CMoveContainer::unlinkMoveElement (CMoveElement *element, uint8 worldImage)
01478 {
01479 <font class="comment">// Some checks</font>
01480 <a class="code" href="debug_8h.html#a6">nlassert</a> (element->X<<a class="code" href="classNLPACS_1_1CMoveContainer.html#o16">_CellCountWidth</a>);
01481 <a class="code" href="debug_8h.html#a6">nlassert</a> (element->Y<<a class="code" href="classNLPACS_1_1CMoveContainer.html#o17">_CellCountHeight</a>);
01482
01483 <font class="comment">// Unlink it</font>
01484 CMoveCell &cell=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o18">_VectorCell</a>[worldImage][element->X+element->Y*<a class="code" href="classNLPACS_1_1CMoveContainer.html#o16">_CellCountWidth</a>];
01485 cell.unlinkX (element);
01486 <font class="comment">//cell.unlinkY (element);</font>
01487 }
01488
01489 <font class="comment">// ***************************************************************************</font>
01490
<a name="l01491"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#c29">01491</a> <font class="keywordtype">void</font> CMoveContainer::reaction (<font class="keyword">const</font> CCollisionOTInfo& first)
01492 {
01493 <font class="comment">// H_AUTO(PACS_MC_reaction);</font>
01494
01495 <font class="comment">// Static collision ?</font>
01496 <font class="keywordflow">if</font> (first.isCollisionAgainstStatic())
01497 {
01498 <font class="comment">// Check mode</font>
01499 <a class="code" href="debug_8h.html#a6">nlassert</a> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o19">_Retriever</a>);
01500
01501 <font class="comment">// Cast</font>
01502 <font class="keyword">const</font> CCollisionOTStaticInfo *staticInfo=safe_cast<const CCollisionOTStaticInfo*> (&first);
01503
01504 <font class="comment">// Get the primitive world image</font>
01505 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a> *movePrimitive=staticInfo->getPrimitive ();
01506 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI;
01507 <font class="keywordflow">if</font> (movePrimitive->isNonCollisionable ())
01508 wI=movePrimitive->getWorldImage (0);
01509 <font class="keywordflow">else</font>
01510 wI=movePrimitive->getWorldImage (staticInfo->getWorldImage());
01511
01512 <font class="comment">// Dynamic collision</font>
01513 wI->reaction ( staticInfo->getCollisionDesc (), staticInfo->getGlobalPosition (),
01514 *<a class="code" href="classNLPACS_1_1CMoveContainer.html#o19">_Retriever</a>, staticInfo->getDeltaTime(), <a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>, *staticInfo->getPrimitive (), *<font class="keyword">this</font>, staticInfo->getWorldImage());
01515 }
01516 <font class="keywordflow">else</font>
01517 {
01518 <font class="comment">// Cast</font>
01519 <font class="keyword">const</font> CCollisionOTDynamicInfo *dynInfo=safe_cast<const CCollisionOTDynamicInfo*> (&first);
01520
01521 <font class="comment">// Get the primitives world image</font>
01522 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *firstWI;
01523 <font class="keywordflow">if</font> (dynInfo->getFirstPrimitive ()->isNonCollisionable ())
01524 firstWI=dynInfo->getFirstPrimitive ()->getWorldImage (0);
01525 <font class="keywordflow">else</font>
01526 firstWI=dynInfo->getFirstPrimitive ()->getWorldImage (dynInfo->getFirstWorldImage());
01527
01528 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *secondWI;
01529 <font class="keywordflow">if</font> (dynInfo->getSecondPrimitive ()->isNonCollisionable ())
01530 secondWI=dynInfo->getSecondPrimitive ()->getWorldImage (0);
01531 <font class="keywordflow">else</font>
01532 secondWI=dynInfo->getSecondPrimitive ()->getWorldImage (dynInfo->getSecondWorldImage());
01533
01534 <font class="comment">// Dynamic collision</font>
01535 firstWI->reaction ( *secondWI, dynInfo->getCollisionDesc (), <a class="code" href="classNLPACS_1_1CMoveContainer.html#o19">_Retriever</a>, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o20">_SurfaceTemp</a>, dynInfo->isCollision(),
01536 *dynInfo->getFirstPrimitive (), *dynInfo->getSecondPrimitive (), <font class="keyword">this</font>, dynInfo->getFirstWorldImage(),
01537 dynInfo->getSecondWorldImage(), dynInfo->isSecondStatic());
01538
01547 <font class="keywordflow">if</font> (dynInfo->getFirstPrimitive ()->isCollisionable ())
01548 {
01549 <font class="keywordflow">if</font> (dynInfo->getFirstPrimitive ()->isTriggered (*dynInfo->getSecondPrimitive (), dynInfo->isEnter(), dynInfo->isExit()))
01550 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c12">newTrigger</a> (dynInfo->getFirstPrimitive (), dynInfo->getSecondPrimitive (), dynInfo->getCollisionDesc (),
01551 dynInfo->isEnter() ? UTriggerInfo::In : dynInfo->isExit() ? UTriggerInfo::Out : UTriggerInfo::Inside);
01552 }
01553 }
01554 }
01555
01556 <font class="comment">// ***************************************************************************</font>
01557
<a name="l01558"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a9">01558</a> <font class="keywordtype">void</font> CMoveContainer::setAsStatic (uint8 worldImage)
01559 {
01560 NL_ALLOC_CONTEXT( Pacs )
01561
01562 <font class="comment">// Add this world image in the static set of world image</font>
01563 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o4">_StaticWorldImage</a>.insert (worldImage);
01564 }
01565
01566 <font class="comment">// ***************************************************************************</font>
01567
<a name="l01568"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a10">01568</a> <font class="keywordtype">void</font> CMoveContainer::duplicateWorldImage (uint8 source, uint8 dest)
01569 {
01570 NL_ALLOC_CONTEXT( Pacs )
01571
01572 <font class="comment">// Cell count</font>
01573 uint cellCount=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o16">_CellCountWidth</a>*<a class="code" href="classNLPACS_1_1CMoveContainer.html#o17">_CellCountHeight</a>;
01574
01575 <font class="comment">// Clear dest modified list</font>
01576 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c13">clearModifiedList</a> (dest);
01577
01578 <font class="comment">// Clear destination cells</font>
01579 uint i;
01580 <font class="keywordflow">for</font> (i=0; i<cellCount; i++)
01581 {
01582 <font class="comment">// Get first X</font>
01583 CMoveElement *elm;
01584 <font class="keywordflow">while</font> ((elm=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o18">_VectorCell</a>[dest][i].getFirstX ()))
01585 {
01586 <font class="comment">// Get primitive world image</font>
01587 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI=elm->Primitive->getWorldImage (dest);
01588
01589 <font class="comment">// Remove the primitive</font>
01590 <font class="keywordtype">int</font> i;
01591 <font class="keywordflow">for</font> (i=0; i<4; i++)
01592 {
01593 <font class="keywordflow">if</font> (wI->getMoveElement(i))
01594 wI->removeMoveElement (i, *<font class="keyword">this</font>, dest);
01595 }
01596 }
01597 }
01598
01599 <font class="comment">// Duplicate destination cells</font>
01600 <font class="keywordflow">for</font> (i=0; i<cellCount; i++)
01601 {
01602 <font class="comment">// Get first X</font>
01603 CMoveElement *elm=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o18">_VectorCell</a>[source][i].getFirstX ();
01604 <font class="keywordflow">while</font> (elm)
01605 {
01606 <font class="comment">// Get primitive world image</font>
01607 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wISource=elm->Primitive->getWorldImage (source);
01608 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wIDest=elm->Primitive->getWorldImage (dest);
01609
01610 <font class="comment">// First time the primitive is visited ?</font>
01611 <font class="keywordflow">if</font> (wIDest->getMoveElement (0)==NULL)
01612 {
01613 wIDest->copy (*wISource);
01614 }
01615
01616 <font class="comment">// Add at the end of the list</font>
01617 wIDest->addMoveElementendOfList (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o18">_VectorCell</a>[dest][i], elm->X, elm->Y, elm->Primitive, *<font class="keyword">this</font>);
01618
01619 <font class="comment">// Added ?</font>
01620 <a class="code" href="debug_8h.html#a6">nlassert</a> (wIDest->getMoveElement (0)!=NULL);
01621
01622 <font class="comment">// Next primitive</font>
01623 elm=elm->NextX;
01624 }
01625 }
01626 }
01627
01628 <font class="comment">// ***************************************************************************</font>
01629
<a name="l01630"></a><a class="code" href="classNLPACS_1_1UMoveContainer.html#d0">01630</a> UMoveContainer *UMoveContainer::createMoveContainer (<font class="keywordtype">double</font> xmin, <font class="keywordtype">double</font> ymin, <font class="keywordtype">double</font> xmax, <font class="keywordtype">double</font> ymax,
01631 uint widthCellCount, uint heightCellCount, <font class="keywordtype">double</font> primitiveMaxSize, uint8 numWorldImage,
01632 uint maxIteration, uint otSize)
01633 {
01634 NL_ALLOC_CONTEXT( Pacs )
01635
01636 <font class="comment">// Create a CMoveContainer</font>
01637 <font class="keywordflow">return</font> <font class="keyword">new</font> CMoveContainer (xmin, ymin, xmax, ymax, widthCellCount, heightCellCount, primitiveMaxSize, numWorldImage, maxIteration, otSize);
01638 }
01639
01640 <font class="comment">// ***************************************************************************</font>
01641
<a name="l01642"></a><a class="code" href="classNLPACS_1_1UMoveContainer.html#d1">01642</a> UMoveContainer *UMoveContainer::createMoveContainer (UGlobalRetriever* retriever, uint widthCellCount,
01643 uint heightCellCount, <font class="keywordtype">double</font> primitiveMaxSize, uint8 numWorldImage, uint maxIteration, uint otSize)
01644 {
01645 NL_ALLOC_CONTEXT( Pacs )
01646
01647 <font class="comment">// Cast</font>
01648 <a class="code" href="debug_8h.html#a6">nlassert</a> (dynamic_cast<CGlobalRetriever*>(retriever));
01649 CGlobalRetriever* <a class="code" href="driver__opengl__extension__def_8h.html#a385">r</a>=static_cast<CGlobalRetriever*>(retriever);
01650
01651 <font class="comment">// Create a CMoveContainer</font>
01652 <font class="keywordflow">return</font> <font class="keyword">new</font> CMoveContainer (<a class="code" href="driver__opengl__extension__def_8h.html#a385">r</a>, widthCellCount, heightCellCount, primitiveMaxSize, numWorldImage, maxIteration, otSize);
01653 }
01654
01655 <font class="comment">// ***************************************************************************</font>
01656
<a name="l01657"></a><a class="code" href="classNLPACS_1_1UCollisionDesc.html#a0">01657</a> <font class="keywordtype">void</font> UCollisionDesc::serial (<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a>& stream)
01658 {
01659 stream.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a> (<a class="code" href="classNLPACS_1_1UCollisionDesc.html#m0">ContactPosition</a>);
01660 stream.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a> (<a class="code" href="classNLPACS_1_1UCollisionDesc.html#m1">ContactNormal0</a>);
01661 stream.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a> (<a class="code" href="classNLPACS_1_1UCollisionDesc.html#m2">ContactNormal1</a>);
01662 stream.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a> (<a class="code" href="classNLPACS_1_1UCollisionDesc.html#m3">ContactTime</a>);
01663 };
01664
01665 <font class="comment">// ***************************************************************************</font>
01666
<a name="l01667"></a><a class="code" href="classNLPACS_1_1UTriggerInfo.html#a0">01667</a> <font class="keywordtype">void</font> UTriggerInfo::serial (<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a>& stream)
01668 {
01669 stream.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a> (<a class="code" href="classNLPACS_1_1UTriggerInfo.html#m0">Object0</a>);
01670 stream.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a> (<a class="code" href="classNLPACS_1_1UTriggerInfo.html#m1">Object1</a>);
01671 stream.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a> (<a class="code" href="classNLPACS_1_1UTriggerInfo.html#m2">CollisionDesc</a>);
01672 }
01673
01674
01675
01676 <font class="comment">// ***************************************************************************</font>
<a name="l01677"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a8">01677</a> <font class="keywordtype">void</font> CMoveContainer::addCollisionnablePrimitiveBlock(UPrimitiveBlock *pb,uint8 firstWorldImage,uint8 numWorldImage,std::vector<UMovePrimitive*> *primitives,<font class="keywordtype">float</font> orientation,<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &position, <font class="keywordtype">bool</font> dontSnapToGround <font class="comment">/* = false*/</font>)
01678 {
01679 NL_ALLOC_CONTEXT( Pacs )
01680
01681 CPrimitiveBlock *block = NLMISC::safe_cast<CPrimitiveBlock *>(pb);
01682 <font class="comment">// Reserve the pointer array</font>
01683 <font class="keywordflow">if</font> (primitives)
01684 primitives->reserve (block->Primitives.size());
01685
01686 <font class="comment">// For each primitive</font>
01687 uint prim;
01688 <font class="keywordflow">for</font> (prim=0; prim<block->Primitives.size(); prim++)
01689 {
01690 <font class="comment">// Create a collisionable primitive</font>
01691 UMovePrimitive *primitive = <a class="code" href="classNLPACS_1_1CMoveContainer.html#a5">addCollisionablePrimitive</a> (firstWorldImage, numWorldImage);
01692
01693 <font class="comment">// Ref on the block descriptor</font>
01694 CPrimitiveDesc &desc = block->Primitives[prim];
01695
01696 <font class="comment">// Set its properties</font>
01697 primitive->setPrimitiveType (desc.Type);
01698 primitive->setReactionType (desc.Reaction);
01699 primitive->setTriggerType (desc.Trigger);
01700 primitive->setCollisionMask (desc.CollisionMask);
01701 primitive->setOcclusionMask (desc.OcclusionMask);
01702 primitive->setObstacle (desc.Obstacle);
01703 primitive->setAbsorbtion (desc.Attenuation);
01704 primitive->setDontSnapToGround(dontSnapToGround);
01705 <font class="keywordflow">if</font> (desc.Type == UMovePrimitive::_2DOrientedBox)
01706 {
01707 primitive->setSize (desc.Length[0], desc.Length[1]);
01708 }
01709 <font class="keywordflow">else</font>
01710 {
01711 <a class="code" href="debug_8h.html#a6">nlassert</a> (desc.Type == UMovePrimitive::_2DOrientedCylinder);
01712 primitive->setRadius (desc.Length[0]);
01713 }
01714 primitive->setHeight (desc.Height);
01715
01716 <font class="comment">// Insert the primitives</font>
01717
01718 <font class="comment">// For each world image</font>
01719 uint wI;
01720 <font class="keywordflow">for</font> (wI=firstWorldImage; wI<(uint)(firstWorldImage+numWorldImage); wI++)
01721 {
01722 <font class="comment">// Insert the primitive</font>
01723 primitive->insertInWorldImage (wI);
01724
01725 <font class="comment">// Final position</font>
01726 <font class="keywordtype">float</font> cosa = (float) cos (orientation);
01727 <font class="keywordtype">float</font> sina = (float) sin (orientation);
01728 CVector finalPos;
01729 finalPos.x = cosa * desc.Position.x - sina * desc.Position.y + position.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>;
01730 finalPos.y = sina * desc.Position.y + cosa * desc.Position.y + position.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>;
01731 finalPos.z = desc.Position.z + position.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>;
01732
01733 <font class="comment">// Set the primtive orientation</font>
01734 <font class="keywordflow">if</font> (desc.Type == UMovePrimitive::_2DOrientedBox)
01735 primitive->setOrientation ((<font class="keywordtype">float</font>)fmod (desc.Orientation + orientation, 2*<a class="code" href="namespaceNLMISC.html#a7">Pi</a>), wI);
01736
01737 <font class="comment">// Set the primitive global position</font>
01738 primitive->setGlobalPosition (finalPos, wI);
01739 }
01740
01741 <font class="comment">// Feedback asked ?</font>
01742 <font class="keywordflow">if</font> (primitives)
01743 {
01744 <font class="comment">// Add the pointer</font>
01745 primitives->push_back (primitive);
01746 }
01747 }
01748 }
01749
01750
01751 <font class="comment">// ***************************************************************************</font>
01752
<a name="l01753"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a7">01753</a> <font class="keywordtype">bool</font> CMoveContainer::loadCollisionablePrimitiveBlock (<font class="keyword">const</font> <font class="keywordtype">char</font> *filename, uint8 firstWorldImage, uint8 numWorldImage, std::vector<UMovePrimitive*> *primitives, <font class="keywordtype">float</font> orientation, <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &position, <font class="keywordtype">bool</font> dontSnapToGround <font class="comment">/*= false*/</font>)
01754 {
01755 NL_ALLOC_CONTEXT( Pacs )
01756
01757 <font class="comment">// Check world image</font>
01758 <font class="keywordflow">if</font> ( (uint)(firstWorldImage+numWorldImage) > <a class="code" href="classNLPACS_1_1CMoveContainer.html#o3">_ChangedRoot</a>.size() )
01759 {
01760 <a class="code" href="debug_8h.html#a2">nlwarning</a> (<font class="stringliteral">"Invalid world image number."</font>);
01761 <font class="keywordflow">return</font> <font class="keyword">false</font>;
01762 }
01763
01764 <font class="comment">// Try to load the file</font>
01765 CIFile <a class="code" href="cf__lexical_8cpp.html#a95">file</a>;
01766 <font class="keywordflow">if</font> (<a class="code" href="cf__lexical_8cpp.html#a95">file</a>.open (filename))
01767 {
01768 <font class="comment">// Create the XML stream</font>
01769 CIXml input;
01770
01771 <font class="comment">// Init</font>
01772 <font class="keywordflow">if</font> (input.init (<a class="code" href="cf__lexical_8cpp.html#a95">file</a>))
01773 {
01774 <font class="comment">// The primitive block</font>
01775 CPrimitiveBlock block;
01776
01777 <font class="comment">// Serial it</font>
01778 <a class="code" href="cf__lexical_8cpp.html#a95">file</a>.serial (block);
01779
01780 <font class="comment">// add primitives</font>
01781 <a class="code" href="classNLPACS_1_1CMoveContainer.html#a8">addCollisionnablePrimitiveBlock</a>(&block, firstWorldImage, numWorldImage, primitives, orientation, position, dontSnapToGround);
01782
01783 <font class="keywordflow">return</font> <font class="keyword">true</font>;
01784 }
01785 <font class="keywordflow">else</font>
01786 {
01787 <font class="comment">// Warning</font>
01788 <a class="code" href="debug_8h.html#a2">nlwarning</a> (<font class="stringliteral">"Can't init XML stream with file %s."</font>, filename);
01789
01790 <font class="keywordflow">return</font> <font class="keyword">false</font>;
01791 }
01792 }
01793 <font class="keywordflow">else</font>
01794 {
01795 <font class="comment">// Warning</font>
01796 <a class="code" href="debug_8h.html#a2">nlwarning</a> (<font class="stringliteral">"Can't load primitive block %s."</font>, filename);
01797
01798 <font class="keywordflow">return</font> <font class="keyword">false</font>;
01799 }
01800 }
01801
01802
01803 <font class="comment">// ***************************************************************************</font>
<a name="l01804"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a20">01804</a> <font class="keywordtype">void</font> CMoveContainer::getPrimitives(std::vector<const UMovePrimitive *> &dest)<font class="keyword"> const</font>
01805 <font class="keyword"></font>{
01806 NL_ALLOC_CONTEXT( Pacs )
01807
01808 dest.resize(<a class="code" href="classNLPACS_1_1CMoveContainer.html#o2">_PrimitiveSet</a>.size());
01809 std::copy(<a class="code" href="classNLPACS_1_1CMoveContainer.html#o2">_PrimitiveSet</a>.begin(), <a class="code" href="classNLPACS_1_1CMoveContainer.html#o2">_PrimitiveSet</a>.end(), dest.begin());
01810 }
01811
01812
01813 <font class="comment">// ***************************************************************************</font>
<a name="l01814"></a><a class="code" href="classNLPACS_1_1UMoveContainer.html#d3">01814</a> <font class="keywordtype">void</font> UMoveContainer::getPACSCoordsFromMatrix(<a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &pos,<font class="keywordtype">float</font> &angle,<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CMatrix.html">NLMISC::CMatrix</a> &mat)
01815 {
01816 pos = mat.<a class="code" href="classNLMISC_1_1CMatrix.html#z291_4">getPos</a>();
01817 CVector orient = mat.<a class="code" href="classNLMISC_1_1CMatrix.html#z294_0">mulVector</a>(<a class="code" href="classNLMISC_1_1CVector.html#p1">NLMISC::CVector::I</a>);
01818 orient.z = 0.f;
01819 orient.normalize();
01820 angle = orient.y >= 0.f ? ::acosf(orient.x)
01821 : 2.f * (float) NLMISC::Pi - ::acosf(orient.x);
01822
01823 }
01824
01825 <font class="comment">// ***************************************************************************</font>
<a name="l01826"></a><a class="code" href="classNLPACS_1_1CMoveContainer.html#a13">01826</a> <font class="keywordtype">bool</font> CMoveContainer::evalNCPrimitiveCollision (<font class="keywordtype">double</font> deltaTime, UMovePrimitive *primitive, uint8 worldImage)
01827 {
01828 NL_ALLOC_CONTEXT( Pacs )
01829
01830 <font class="comment">// New test time</font>
01831 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o0">_TestTime</a>++;
01832
01833 <font class="comment">// Clear triggers</font>
01834 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o21">_Triggers</a>.clear ();
01835
01836 <font class="comment">// Only non-collisionable primitives</font>
01837 <font class="keywordflow">if</font> (!primitive->isCollisionable())
01838 {
01839 <font class="comment">// Delta time</font>
01840 <a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>=deltaTime;
01841
01842 <font class="comment">// Begin of the time slice to compute</font>
01843 <font class="keywordtype">double</font> beginTime = 0;
01844 <font class="keywordtype">double</font> collisionTime = deltaTime;
01845
01846 <font class="comment">// Get the world image</font>
01847 <a class="code" href="classNLPACS_1_1CMoveContainer.html#l1">CPrimitiveWorldImage</a> *wI = ((<a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a>*)primitive)->getWorldImage (0);
01848
01849 CCollisionOTInfo *firstCollision = NULL;
01850 <font class="keywordflow">do</font>
01851 {
01852
01853 <a class="code" href="debug_8h.html#a6">nlassert</a> (beginTime < 1.0);
01854
01855 <font class="comment">// Update the primitive</font>
01856 wI->update (beginTime, deltaTime, *(<a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a>*)primitive);
01857
01858 CVectorD d0=wI->getDeltaPosition();
01859
01860 <font class="comment">// Eval collision again the terrain</font>
01861 <font class="keywordtype">bool</font> testMoveValid = <font class="keyword">false</font>;
01862 CCollisionOTStaticInfo staticColInfo;
01863 CCollisionOTDynamicInfo dynamicColInfoWI0;
01864 CCollisionOTDynamicInfo dynamicColInfoWI;
01865
01866 firstCollision = NULL;
01867
01868 <font class="comment">// If collision found, note it is on the landscape</font>
01869 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#c6">evalOneTerrainCollision</a> (beginTime, (<a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a>*)primitive, worldImage, <font class="keyword">false</font>, testMoveValid, &staticColInfo, NULL))
01870 {
01871 firstCollision = &staticColInfo;
01872 }
01873
01874 <font class="comment">// Eval collision again the static primitives</font>
01875 std::set<uint8>::iterator ite=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o4">_StaticWorldImage</a>.begin();
01876 <font class="keywordflow">while</font> (ite!=<a class="code" href="classNLPACS_1_1CMoveContainer.html#o4">_StaticWorldImage</a>.end())
01877 {
01878 <font class="comment">// Eval in this world image</font>
01879 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#c7">evalOnePrimitiveCollision</a> (beginTime, (<a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a>*)primitive, *ite, worldImage, <font class="keyword">false</font>, <font class="keyword">true</font>, testMoveValid, &dynamicColInfoWI0, NULL))
01880 {
01881 <font class="comment">// First collision..</font>
01882 <font class="keywordflow">if</font> (!firstCollision || (firstCollision->getCollisionTime () > dynamicColInfoWI0.getCollisionTime ()))
01883 {
01884 firstCollision = &dynamicColInfoWI0;
01885 }
01886 }
01887
01888 <font class="comment">// Next world image</font>
01889 ite++;
01890 }
01891
01892 <font class="comment">// Checks</font>
01893 CVectorD d1=wI->getDeltaPosition();
01894
01895 <font class="comment">// Eval collision again the world image</font>
01896 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o4">_StaticWorldImage</a>.find (worldImage)==<a class="code" href="classNLPACS_1_1CMoveContainer.html#o4">_StaticWorldImage</a>.end())
01897 {
01898 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#c7">evalOnePrimitiveCollision</a> (beginTime, (<a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a>*)primitive, worldImage, worldImage, <font class="keyword">false</font>, <font class="keyword">false</font>, testMoveValid, &dynamicColInfoWI, NULL))
01899 {
01900 <font class="comment">// First collision..</font>
01901 <font class="keywordflow">if</font> (!firstCollision || (firstCollision->getCollisionTime () > dynamicColInfoWI.getCollisionTime ()))
01902 {
01903 firstCollision = &dynamicColInfoWI;
01904 }
01905 }
01906 }
01907
01908 <font class="comment">// Checks</font>
01909 CVectorD d2=wI->getDeltaPosition();
01910 <a class="code" href="debug_8h.html#a6">nlassert</a> ((d0==d1)&&(d0==d2));
01911
01912 <font class="comment">// if (found)</font>
01913 <font class="comment">// nlstop;</font>
01914
01915 <font class="comment">// Reaction</font>
01916 <font class="keywordflow">if</font> (firstCollision)
01917 {
01918 collisionTime = firstCollision->getCollisionTime ();
01919 <a class="code" href="classNLPACS_1_1CMoveContainer.html#c29">reaction</a> (*firstCollision);
01920 <a class="code" href="debug_8h.html#a6">nlassert</a> (collisionTime != 1);
01921 }
01922 <font class="keywordflow">else</font>
01923 {
01924 <font class="comment">// Retriever mode ?</font>
01925 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o19">_Retriever</a>&&testMoveValid)
01926 {
01927 <font class="comment">// Do move</font>
01928 wI->doMove (*<a class="code" href="classNLPACS_1_1CMoveContainer.html#o19">_Retriever</a>, <a class="code" href="classNLPACS_1_1CMoveContainer.html#o20">_SurfaceTemp</a>, deltaTime, collisionTime, ((<a class="code" href="classNLPACS_1_1CMoveContainer.html#l0">CMovePrimitive</a>*)primitive)->getDontSnapToGround());
01929 }
01930 <font class="keywordflow">else</font>
01931 {
01932 <font class="comment">// Do move</font>
01933 wI->doMove (<a class="code" href="classNLPACS_1_1CMoveContainer.html#o8">_DeltaTime</a>);
01934 }
01935 }
01936
01937 beginTime = collisionTime;
01938 }
01939 <font class="keywordflow">while</font> (firstCollision);
01940 }
01941 <font class="keywordflow">else</font>
01942 <font class="keywordflow">return</font> <font class="keyword">false</font>;
01943
01944 <font class="keywordflow">return</font> <font class="keyword">true</font>;
01945 }
01946
01947
01948 } <font class="comment">// NLPACS</font>
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