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<hr><h1>primitive_world_image.cpp</h1><a href="primitive__world__image_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="hierarchical__timer_8h.html">nel/misc/hierarchical_timer.h</a>"</font>
00029
00030 <font class="preprocessor">#include "<a class="code" href="primitive__world__image_8h.html">pacs/primitive_world_image.h</a>"</font>
00031 <font class="preprocessor">#include "<a class="code" href="move__primitive_8h.html">pacs/move_primitive.h</a>"</font>
00032 <font class="preprocessor">#include "<a class="code" href="move__element_8h.html">pacs/move_element.h</a>"</font>
00033
00034 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC;
00035
00036
00037 <font class="keyword">namespace </font>NLPACS
00038 {
00039
00040 <font class="comment">// ***************************************************************************</font>
00041
<a name="l00042"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">00042</a> CPrimitiveWorldImage::CPrimitiveWorldImage()
00043 {
00044 <font class="comment">// Set to NULL</font>
00045 <font class="keywordflow">for</font> (uint i=0; i<4; i++)
00046 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[i]=NULL;
00047
00048 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>=0;
00049 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>=-FLT_MAX;
00050 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>=-FLT_MAX;
00051 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>=-FLT_MAX;
00052 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>=-FLT_MAX;
00053 }
00054
00055 <font class="comment">// ***************************************************************************</font>
00056
<a name="l00057"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a1">00057</a> <font class="keywordtype">void</font> CPrimitiveWorldImage::deleteIt (CMoveContainer &container, uint8 worldImage)
00058 {
00059 <font class="comment">// Free the move elements </font>
00060 <font class="keywordflow">for</font> (uint i=0; i<4; i++)
00061 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[i])
00062 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a22">removeMoveElement</a> (i, container, worldImage);
00063 }
00064 <font class="comment">// ***************************************************************************</font>
00065
<a name="l00066"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a2">00066</a> <font class="keywordtype">void</font> CPrimitiveWorldImage::copy (<font class="keyword">const</font> CPrimitiveWorldImage& source)
00067 {
00068 <font class="comment">// Copy</font>
00069 this->operator=(source);
00070
00071 <font class="comment">// Reset some flags</font>
00072 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&=~<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u2">InModifiedListFlag</a>;
00073
00074 <font class="comment">// Pointer into the 4 possibles sorted lists of movable primitives. Must be NULL</font>
00075 <font class="keywordflow">for</font> (uint i=0; i<4; i++)
00076 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[i]=NULL;
00077 }
00078
00079 <font class="comment">// ***************************************************************************</font>
00080
<a name="l00081"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a35">00081</a> <font class="keywordtype">bool</font> CPrimitiveWorldImage::evalCollision (CPrimitiveWorldImage& other, CCollisionDesc& desc, <font class="keywordtype">double</font> timeMin, <font class="keywordtype">double</font> timeMax, uint32 testTime,
00082 uint32 maxTestIteration, <font class="keywordtype">double</font> &firstContactTime, <font class="keywordtype">double</font> &lastContactTime, CMovePrimitive& primitive,
00083 CMovePrimitive& otherPrimitive)
00084 {
00085 <font class="comment">// H_AUTO(PACS_PWI_evalCollision_long);</font>
00086
00087 <font class="comment">// Mask test</font>
00088 <font class="keywordflow">if</font> (( (primitive.getCollisionMaskInternal() & otherPrimitive.getOcclusionMaskInternal()) == 0) &&
00089 ( (primitive.getOcclusionMaskInternal() & otherPrimitive.getCollisionMaskInternal()) == 0))
00090 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00091
00092 <font class="comment">// Test time</font>
00093 <font class="keywordflow">if</font> ( (!primitive.checkTestTime (testTime, maxTestIteration)) || (!otherPrimitive.checkTestTime (testTime, maxTestIteration)) )
00094 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00095
00096 <font class="comment">// Clear time min time max</font>
00097 firstContactTime=FLT_MAX;
00098 lastContactTime=-FLT_MAX;
00099
00100 <font class="comment">// Switch the good test</font>
00101 <font class="keywordflow">switch</font> (primitive.getPrimitiveTypeInternal())
00102 {
00103
00104 <font class="comment">// Static box over...</font>
00105 <font class="keywordflow">case</font> UMovePrimitive::_2DOrientedBox:
00106 {
00107 <font class="comment">// Switch second type</font>
00108 <font class="keywordflow">switch</font> (otherPrimitive.getPrimitiveTypeInternal())
00109 {
00110
00111 <font class="comment">// Static box over movable box</font>
00112 <font class="keywordflow">case</font> UMovePrimitive::_2DOrientedBox:
00113 <font class="comment">// Make the test</font>
00114 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a36">evalCollisionOBoverOB</a> (other, desc, timeMin, timeMax, firstContactTime, lastContactTime, primitive, otherPrimitive);
00115
00116 <font class="comment">// Static box over movable cylinder</font>
00117 <font class="keywordflow">case</font> UMovePrimitive::_2DOrientedCylinder:
00118 <font class="comment">// Make the test</font>
00119 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a37">evalCollisionOBoverOC</a> (other, desc, timeMin, timeMax, firstContactTime, lastContactTime, primitive, otherPrimitive);
00120
00121 <font class="keywordflow">default</font>:
00122 <font class="comment">// Should not go here</font>
00123 <a class="code" href="debug_8h.html#a12">nlstop</a>;
00124 }
00125 }
00126
00127 <font class="comment">// Static box over...</font>
00128 <font class="keywordflow">case</font> UMovePrimitive::_2DOrientedCylinder:
00129 {
00130 <font class="comment">// Switch second type</font>
00131 <font class="keywordflow">switch</font> (otherPrimitive.getPrimitiveTypeInternal())
00132 {
00133
00134 <font class="comment">// Static box over movable box</font>
00135 <font class="keywordflow">case</font> UMovePrimitive::_2DOrientedBox:
00136 {
00137 <font class="comment">// Make the test</font>
00138 <font class="keywordtype">bool</font> collid=other.evalCollisionOBoverOC (*<font class="keyword">this</font>, desc, timeMin, timeMax, firstContactTime, lastContactTime, otherPrimitive,
00139 primitive);
00140 <font class="keywordflow">if</font> (collid)
00141 desc.XChgContactNormals ();
00142 <font class="keywordflow">return</font> collid;
00143 }
00144
00145 <font class="comment">// Static box over movable cylinder</font>
00146 <font class="keywordflow">case</font> UMovePrimitive::_2DOrientedCylinder:
00147 <font class="comment">// Make the test</font>
00148 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a38">evalCollisionOCoverOC</a> (other, desc, timeMin, timeMax, firstContactTime, lastContactTime, primitive, otherPrimitive);
00149
00150 <font class="keywordflow">default</font>:
00151 <font class="comment">// Should not go here</font>
00152 <a class="code" href="debug_8h.html#a12">nlstop</a>;
00153 }
00154 }
00155
00156 <font class="keywordflow">default</font>:
00157 <font class="comment">// Should not go here</font>
00158 <a class="code" href="debug_8h.html#a12">nlstop</a>;
00159 }
00160
00161 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00162 }
00163
00164 <font class="comment">// ***************************************************************************</font>
00165
<a name="l00166"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a42">00166</a> <font class="keyword">const</font> <a class="code" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> *CPrimitiveWorldImage::evalCollision (CGlobalRetriever &retriever, CCollisionSurfaceTemp& surfaceTemp,
00167 uint32 testTime, uint32 maxTestIteration, CMovePrimitive& primitive)
00168 {
00169 <font class="comment">// H_AUTO(PACS_PWI_evalCollision_short);</font>
00170
00171 <font class="comment">// Test time</font>
00172 <font class="keywordflow">if</font> (!primitive.checkTestTime (testTime, maxTestIteration))
00173 <font class="keywordflow">return</font> NULL;
00174
00175 <font class="comment">// Switch the good test</font>
00176 <font class="keywordflow">if</font> (primitive.getPrimitiveTypeInternal()==UMovePrimitive::_2DOrientedBox)
00177 {
00178 <font class="comment">// Local I</font>
00179 CVector locI ((<font class="keywordtype">float</font>)(<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.EdgeDirectionX[0]*primitive.getLength(0)/2.0), (float)(<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.EdgeDirectionY[0]*primitive.getLength(1)/2.0), 0);
00180
00181 <font class="comment">// Local J</font>
00182 CVector locJ ((<font class="keywordtype">float</font>)(<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.EdgeDirectionX[1]*primitive.getLength(0)/2.0), (float)(<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.EdgeDirectionY[1]*primitive.getLength(1)/2.0), 0);
00183
00184 <font class="comment">// Test</font>
00185 <font class="keywordflow">return</font> retriever.testBBoxMove (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a2">getGlobalPos</a> (), <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o4">_DeltaPosition</a>, locI, locJ, surfaceTemp);
00186 }
00187 <font class="keywordflow">else</font>
00188 {
00189 <font class="comment">// Check</font>
00190 <a class="code" href="debug_8h.html#a6">nlassert</a> (primitive.getPrimitiveTypeInternal()==UMovePrimitive::_2DOrientedCylinder);
00191
00192 <font class="comment">// Test</font>
00193 <font class="comment">//nlinfo ("1) %f %f %f\n", _DeltaPosition.x, _DeltaPosition.y, _DeltaPosition.z);</font>
00194
00195 <font class="keywordflow">return</font> retriever.testCylinderMove (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a2">getGlobalPos</a> (), <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o4">_DeltaPosition</a>, primitive.getRadiusInternal(), surfaceTemp);
00196 }
00197 }
00198
00199 <font class="comment">// ***************************************************************************</font>
00200
<a name="l00201"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a43">00201</a> <font class="keywordtype">void</font> CPrimitiveWorldImage::doMove (CGlobalRetriever &retriever, CCollisionSurfaceTemp& surfaceTemp, <font class="keywordtype">double</font> originalMax, <font class="keywordtype">double</font> finalMax, <font class="keywordtype">bool</font> keepZ <font class="comment">/*= false*/</font>)
00202 {
00203 <font class="comment">// H_AUTO(PACS_PWI_doMove_long);</font>
00204
00205 <font class="comment">// Time to avance</font>
00206 <font class="keywordtype">double</font> ratio;
00207 <font class="keywordflow">if</font> (finalMax!=originalMax)
00208 ratio=(finalMax-<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">_InitTime</a>)/(originalMax-<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">_InitTime</a>);
00209 <font class="keywordflow">else</font>
00210 ratio=1;
00211
00212 <font class="comment">// Make the move</font>
00213 <font class="keywordflow">if</font> (!keepZ)
00214 {
00215 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a3">setGlobalPos</a> (retriever.doMove(<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a2">getGlobalPos</a>(), <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o4">_DeltaPosition</a>, (float)ratio, surfaceTemp, <font class="keyword">false</font>), retriever);
00216 }
00217 <font class="keywordflow">else</font>
00218 {
00219 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a4">setGlobalPosKeepZ</a>(retriever.doMove(<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a2">getGlobalPos</a>(), <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o4">_DeltaPosition</a>, (float)ratio, surfaceTemp, <font class="keyword">false</font>), retriever);
00220 }
00221
00222
00223 <font class="comment">// Final position</font>
00224 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">_InitTime</a>=finalMax;
00225 }
00226
00227 <font class="comment">// ***************************************************************************</font>
00228
<a name="l00229"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a44">00229</a> <font class="keywordtype">void</font> CPrimitiveWorldImage::doMove (<font class="keywordtype">double</font> timeMax)
00230 {
00231 <font class="comment">// H_AUTO(PACS_PWI_doMove_short);</font>
00232
00233 <font class="comment">// Make the move</font>
00234 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a1">setPos</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a0">getPos</a> ()+<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>*(timeMax-<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">_InitTime</a>));
00235
00236 <font class="comment">// Final position</font>
00237 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">_InitTime</a>=timeMax;
00238 }
00239
00240 <font class="comment">// ***************************************************************************</font>
00241
<a name="l00242"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a36">00242</a> <font class="keywordtype">bool</font> CPrimitiveWorldImage::evalCollisionOBoverOB (CPrimitiveWorldImage& other, CCollisionDesc& desc, <font class="keywordtype">double</font> timeMin, <font class="keywordtype">double</font> timeMax,
00243 <font class="keywordtype">double</font> &firstContactTime, <font class="keywordtype">double</font> &lastContactTime, CMovePrimitive& primitive,
00244 CMovePrimitive& otherPrimitive)
00245 {
00246 <font class="comment">// Checks</font>
00247 <a class="code" href="debug_8h.html#a6">nlassert</a> (primitive.getPrimitiveTypeInternal()==UMovePrimitive::_2DOrientedBox);
00248 <a class="code" href="debug_8h.html#a6">nlassert</a> (otherPrimitive.getPrimitiveTypeInternal()==UMovePrimitive::_2DOrientedBox);
00249
00250 <font class="comment">// Find a collision</font>
00251 <font class="keywordtype">bool</font> find=<font class="keyword">false</font>;
00252
00253 <font class="comment">// Best time</font>
00254 desc.ContactTime=FLT_MAX;
00255
00256 <font class="comment">// Timemin</font>
00257 <font class="keywordtype">double</font> _timeMax=-FLT_MAX;
00258
00259 <font class="comment">// Check movable points over the edge</font>
00260 uint pt;
00261 uint seg;
00262 <font class="keywordflow">for</font> (pt=0; pt<4; pt++)
00263 <font class="keywordflow">for</font> (seg=0; seg<4; seg++)
00264 {
00265 <font class="comment">// Get collision time of the point over the segment</font>
00266 CCollisionDesc d;
00267 <font class="keywordflow">if</font> ( <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a39">evalCollisionPoverS</a> (other, d, pt, seg, primitive, otherPrimitive) )
00268 {
00269 <font class="comment">// Find</font>
00270 find=<font class="keyword">true</font>;
00271
00272 <font class="comment">// Best time ?</font>
00273 <font class="keywordflow">if</font> (d.ContactTime<desc.ContactTime)
00274 {
00275 <font class="comment">// This is the new descriptor</font>
00276 desc=d;
00277 }
00278
00279 <font class="comment">// Best max time ?</font>
00280 <font class="keywordflow">if</font> (d.ContactTime>_timeMax)
00281 {
00282 <font class="comment">// This is the new max time</font>
00283 _timeMax=d.ContactTime;
00284 }
00285 }
00286 }
00287
00288 <font class="comment">// Check static points over the movable box</font>
00289 <font class="keywordflow">for</font> (pt=0; pt<4; pt++)
00290 <font class="keywordflow">for</font> (seg=0; seg<4; seg++)
00291 {
00292 <font class="comment">// Get collision time of the point over the segment</font>
00293 CCollisionDesc d;
00294 <font class="keywordflow">if</font> (other.evalCollisionPoverS (*<font class="keyword">this</font>, d, pt, seg, primitive, otherPrimitive))
00295 {
00296 <font class="comment">// Find</font>
00297 find=<font class="keyword">true</font>;
00298
00299 <font class="comment">// Best time ?</font>
00300 <font class="keywordflow">if</font> (d.ContactTime<desc.ContactTime)
00301 {
00302 <font class="comment">// This is the new descriptor</font>
00303 desc=d;
00304 }
00305
00306 <font class="comment">// Best max time ?</font>
00307 <font class="keywordflow">if</font> (d.ContactTime>_timeMax)
00308 {
00309 <font class="comment">// This is the new max time</font>
00310 _timeMax=d.ContactTime;
00311 }
00312 }
00313 }
00314
00315 <font class="keywordflow">if</font> (find)
00316 {
00317 <font class="comment">// First last contact time</font>
00318 firstContactTime=desc.ContactTime;
00319 lastContactTime=_timeMax;
00320
00321 <font class="comment">// Half time</font>
00322 <font class="comment">//double halfTime = (_timeMax+desc.ContactTime)/2.0;</font>
00323
00324 <font class="comment">// Collision in the past ?</font>
00325 <font class="comment">//if (timeMin > halfTime)</font>
00326 <font class="keywordflow">if</font> (timeMin > _timeMax)
00327 <font class="comment">// yes, abort</font>
00328 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00329
00330 <font class="comment">// Collision not in the future ?</font>
00331 <font class="keywordflow">if</font> (timeMax>desc.ContactTime)
00332 {
00333 <font class="comment">// Clamp time</font>
00334 <font class="keywordflow">if</font> (desc.ContactTime<timeMin)
00335 desc.ContactTime=timeMin;
00336
00337 <font class="comment">// yes, found it</font>
00338 <font class="keywordflow">return</font> <font class="keyword">true</font>;
00339 }
00340 }
00341
00342 <font class="comment">// No collision found</font>
00343 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00344 }
00345
00346 <font class="comment">// ***************************************************************************</font>
00347
<a name="l00348"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a37">00348</a> <font class="keywordtype">bool</font> CPrimitiveWorldImage::evalCollisionOBoverOC (CPrimitiveWorldImage& other, CCollisionDesc& desc, <font class="keywordtype">double</font> timeMin, <font class="keywordtype">double</font> timeMax,
00349 <font class="keywordtype">double</font> &firstContactTime, <font class="keywordtype">double</font> &lastContactTime, CMovePrimitive& primitive,
00350 CMovePrimitive& otherPrimitive)
00351 {
00352 <font class="comment">// Checks</font>
00353 <a class="code" href="debug_8h.html#a6">nlassert</a> (primitive.getPrimitiveTypeInternal()==UMovePrimitive::_2DOrientedBox);
00354 <a class="code" href="debug_8h.html#a6">nlassert</a> (otherPrimitive.getPrimitiveTypeInternal()==UMovePrimitive::_2DOrientedCylinder);
00355
00356 <font class="comment">// Find a collision</font>
00357 <font class="keywordtype">bool</font> find=<font class="keyword">false</font>;
00358
00359 <font class="comment">// Best time</font>
00360 desc.ContactTime=FLT_MAX;
00361
00362 <font class="comment">// time min clip</font>
00363 <font class="keywordtype">double</font> _timeMax = -FLT_MAX;
00364
00365 <font class="comment">// Check movable points over the cylinder</font>
00366 uint pt;
00367 <font class="keywordflow">for</font> (pt=0; pt<4; pt++)
00368 {
00369 <font class="comment">// Get collision time of the point over the segment</font>
00370 CCollisionDesc d;
00371 <font class="keywordtype">double</font> firstContactTime;
00372 <font class="keywordtype">double</font> lastContactTime;
00373 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a40">evalCollisionPoverOC</a> (other, d, pt, firstContactTime, lastContactTime, primitive, otherPrimitive))
00374 {
00375 <font class="comment">// Found</font>
00376 find=<font class="keyword">true</font>;
00377
00378 <font class="comment">// Best time ?</font>
00379 <font class="keywordflow">if</font> (firstContactTime<desc.ContactTime)
00380 {
00381 <font class="comment">// This is the new descriptor</font>
00382 desc=d;
00383 }
00384
00385 <font class="comment">// Best max time ?</font>
00386 <font class="keywordflow">if</font> (lastContactTime>_timeMax)
00387 {
00388 <font class="comment">// New max time</font>
00389 _timeMax=lastContactTime;
00390 }
00391 }
00392 }
00393
00394 <font class="comment">// Check static points over the movable box</font>
00395 uint seg;
00396 <font class="keywordflow">for</font> (seg=0; seg<4; seg++)
00397 {
00398 <font class="comment">// Get collision time of the point over the segment</font>
00399 CCollisionDesc d;
00400 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a41">evalCollisionSoverOC</a> (other, d, seg, primitive, otherPrimitive))
00401 {
00402 <font class="comment">// Found</font>
00403 find=<font class="keyword">true</font>;
00404
00405 <font class="comment">// Best time ?</font>
00406 <font class="keywordflow">if</font> (d.ContactTime<desc.ContactTime)
00407 {
00408 <font class="comment">// This is the new descriptor</font>
00409 desc=d;
00410 }
00411
00412 <font class="comment">// Best max time ?</font>
00413 <font class="keywordflow">if</font> (d.ContactTime>_timeMax)
00414 {
00415 <font class="comment">// New max time</font>
00416 _timeMax=d.ContactTime;
00417 }
00418 }
00419 }
00420
00421 <font class="keywordflow">if</font> (find)
00422 {
00423 <font class="comment">// First last contact time</font>
00424 firstContactTime=desc.ContactTime;
00425 lastContactTime=_timeMax;
00426
00427 <font class="comment">// Half time</font>
00428 <font class="comment">//double halfTime = (_timeMax+desc.ContactTime)/2.0;</font>
00429
00430 <font class="comment">// Collision in the past ?</font>
00431 <font class="comment">//if (timeMin > halfTime)</font>
00432 <font class="keywordflow">if</font> (timeMin > _timeMax)
00433 <font class="comment">// yes, abort</font>
00434 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00435
00436 <font class="comment">// Collision not in the future ?</font>
00437 <font class="keywordflow">if</font> (timeMax>desc.ContactTime)
00438 {
00439 <font class="comment">// Clamp time</font>
00440 <font class="keywordflow">if</font> (desc.ContactTime<timeMin)
00441 desc.ContactTime=timeMin;
00442
00443 <font class="comment">// yes, found it</font>
00444 <font class="keywordflow">return</font> <font class="keyword">true</font>;
00445 }
00446 }
00447
00448 <font class="comment">// No collision found</font>
00449 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00450 }
00451
00452 <font class="comment">// ***************************************************************************</font>
00453
<a name="l00454"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a39">00454</a> <font class="keywordtype">bool</font> CPrimitiveWorldImage::evalCollisionPoverS (CPrimitiveWorldImage& other, CCollisionDesc& desc, uint numPoint, uint numSeg,
00455 CMovePrimitive& primitive, CMovePrimitive& otherPrimitive)
00456 {
00457 <font class="comment">// Checks</font>
00458 <a class="code" href="debug_8h.html#a6">nlassert</a> (primitive.getPrimitiveTypeInternal()==UMovePrimitive::_2DOrientedBox);
00459 <a class="code" href="debug_8h.html#a6">nlassert</a> (otherPrimitive.getPrimitiveTypeInternal()==UMovePrimitive::_2DOrientedBox);
00460
00461 <font class="comment">// Some constants</font>
00462 <font class="keyword">const</font> <font class="keywordtype">double</font> normalSegX=other._OBData.EdgeDirectionY[numSeg];
00463 <font class="keyword">const</font> <font class="keywordtype">double</font> normalSegY=-other._OBData.EdgeDirectionX[numSeg];
00464
00465 <font class="comment">// Relative speed</font>
00466 <font class="keyword">const</font> <font class="keywordtype">double</font> speedX=other._Speed.x-<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>;
00467 <font class="keyword">const</font> <font class="keywordtype">double</font> speedY=other._Speed.y-<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>;
00468
00469 <font class="comment">// Dot product with the plan tangeante</font>
00470 <font class="keywordtype">double</font> dotProd= speedX*normalSegX + speedY*normalSegY;
00471 <font class="comment">//if ( dotProd > 0 )</font>
00472 <font class="keywordflow">if</font> ( dotProd != 0 )
00473 {
00474 <font class="comment">// Time of the collision</font>
00475 <font class="keywordtype">double</font> time= (normalSegX*(<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[numPoint] - other._OBData.PointPosX[numSeg]) +
00476 normalSegY*(<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[numPoint] - other._OBData.PointPosY[numSeg])) / dotProd;
00477
00478 <font class="comment">// Position of segment point at collision time</font>
00479 <font class="keyword">const</font> <font class="keywordtype">double</font> segPosX= other._OBData.PointPosX[numSeg] + other._Speed.x*time;
00480 <font class="keyword">const</font> <font class="keywordtype">double</font> segPosY= other._OBData.PointPosY[numSeg] + other._Speed.y*time;
00481
00482 <font class="comment">// Position of the point at collision time</font>
00483 <font class="keyword">const</font> <font class="keywordtype">double</font> ptPosX= <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[numPoint] + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>*time;
00484 <font class="keyword">const</font> <font class="keywordtype">double</font> ptPosY= <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[numPoint] + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>*time;
00485
00486 <font class="comment">// Direction of the collision on the segment</font>
00487 <font class="keyword">const</font> <font class="keywordtype">double</font> dirX= ptPosX - segPosX;
00488 <font class="keyword">const</font> <font class="keywordtype">double</font> dirY= ptPosY - segPosY;
00489
00490 <font class="comment">// Length of this vector</font>
00491 <font class="keyword">const</font> <font class="keywordtype">double</font> length= dirY*normalSegX - dirX*normalSegY;
00492
00493 <font class="comment">// Included ?</font>
00494 <font class="keywordflow">if</font> ( ( length >= 0 ) && ( length <= otherPrimitive.getLength(numSeg&1) ) )
00495 {
00496 <font class="comment">// 2d Collid checked... Now check height</font>
00497
00498 <font class="comment">// Pos Z</font>
00499 <font class="keyword">const</font> <font class="keywordtype">double</font> pointSegZ=other._3dInitPosition.z;
00500 <font class="keyword">const</font> <font class="keywordtype">double</font> segPosZ= pointSegZ + other._Speed.z*time;
00501
00502 <font class="comment">// Some constants</font>
00503 <font class="keyword">const</font> <font class="keywordtype">double</font> pointZ=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m2">z</a>;
00504 <font class="keyword">const</font> <font class="keywordtype">double</font> ptPosZ= pointZ + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m2">z</a>*time;
00505
00506 <font class="comment">// Included ?</font>
00507 <font class="keywordflow">if</font> ( (ptPosZ <= segPosZ + otherPrimitive.getHeightInternal()) && (ptPosZ + primitive.getHeightInternal() >= segPosZ) )
00508 {
00509 <font class="comment">// Ok Collision, fill the result</font>
00510
00511 <font class="comment">// Time</font>
00512 desc.ContactTime=time;
00513
00514 <font class="comment">// Position</font>
00515 desc.ContactPosition.x=ptPosX;
00516 desc.ContactPosition.y=ptPosY;
00517 desc.ContactPosition.z=std::max (segPosZ, ptPosZ);
00518
00519 <font class="comment">// Seg box normal</font>
00520 desc.ContactNormal1.x=normalSegX;
00521 desc.ContactNormal1.y=normalSegY;
00522 desc.ContactNormal1.z=0;
00523 desc.ContactNormal0.x=-desc.ContactNormal1.x;
00524 desc.ContactNormal0.y=-desc.ContactNormal1.y;
00525 desc.ContactNormal0.z=0;
00526
00527 <font class="comment">// End</font>
00528 <font class="keywordflow">return</font> <font class="keyword">true</font>;
00529 }
00530 }
00531 }
00532
00533 <font class="comment">// No collision</font>
00534 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00535 }
00536
00537 <font class="comment">// ***************************************************************************</font>
00538
00539 <font class="keyword">inline</font> uint <a class="code" href="namespaceNLPACS.html#a29">secondDegree</a> (<font class="keywordtype">double</font> a, <font class="keywordtype">double</font> b, <font class="keywordtype">double</font> c, <font class="keywordtype">double</font>& s0, <font class="keywordtype">double</font>& s1)
00540 {
00541 <font class="keywordtype">double</font> d=b*b-4.f*a*c;
00542 <font class="keywordflow">if</font> (d>0)
00543 {
00544 <font class="comment">// sqrt d</font>
00545 d=(double)sqrt (d);
00546
00547 <font class="comment">// 1 / 2a</font>
00548 a=0.5f/a;
00549
00550 <font class="comment">// 2 solutions</font>
00551 s0 = (-b-d)*a;
00552 s1 = (-b+d)*a;
00553
00554 <font class="keywordflow">return</font> 2;
00555 }
00556 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (d<0)
00557 {
00558 <font class="comment">// No solution</font>
00559 <font class="keywordflow">return</font> 0;
00560 }
00561 <font class="keywordflow">else</font>
00562 {
00563 <font class="comment">// 1 solution</font>
00564 s0 = -b/(2.f*a);
00565
00566 <font class="keywordflow">return</font> 1;
00567 }
00568 }
00569
00570 <font class="comment">// ***************************************************************************</font>
00571
<a name="l00572"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a40">00572</a> <font class="keywordtype">bool</font> CPrimitiveWorldImage::evalCollisionPoverOC (CPrimitiveWorldImage& other, CCollisionDesc& desc, uint numPoint,
00573 <font class="keywordtype">double</font> &firstContactTime, <font class="keywordtype">double</font> &lastContactTime, CMovePrimitive& primitive,
00574 CMovePrimitive& otherPrimitive)
00575 {
00576 <font class="comment">// Checks</font>
00577 <a class="code" href="debug_8h.html#a6">nlassert</a> (primitive.getPrimitiveTypeInternal()==UMovePrimitive::_2DOrientedBox);
00578 <a class="code" href="debug_8h.html#a6">nlassert</a> (otherPrimitive.getPrimitiveTypeInternal()==UMovePrimitive::_2DOrientedCylinder);
00579
00580 <font class="comment">/* Point Equ:</font>
00581 <font class="comment"> * p(t) = p0 + v0*(t - t0)</font>
00582 <font class="comment"> *</font>
00583 <font class="comment"> * Cylinder center Equ:</font>
00584 <font class="comment"> * p'(t) = p'0 + v'0*(t - t'0)</font>
00585 <font class="comment"> *</font>
00586 <font class="comment"> * Find t for this equation:</font>
00587 <font class="comment"> * R� = Norm� (p(t) - p'(t))</font>
00588 <font class="comment"> * R� = Norm� ( p0 + v0 ( t - t0 ) - p'0 - v'0 ( t - t'0 ) )</font>
00589 <font class="comment"> *</font>
00590 <font class="comment"> * A = p0 - v0*t0 - p'0 + v'0*t'0</font>
00591 <font class="comment"> * B = (v0 - v'0)</font>
00592 <font class="comment"> *</font>
00593 <font class="comment"> * Norm� (B)*t� + 2*(A.B)*t + Norm� (A) - R� = 0</font>
00594 <font class="comment"> *</font>
00595 <font class="comment"> * a = Norm� (B)</font>
00596 <font class="comment"> * b = 2*(A.B)</font>
00597 <font class="comment"> * c = Norm� (A) - R�</font>
00598 <font class="comment"> *</font>
00599 <font class="comment"> * a*t� + b*t + c = 0</font>
00600 <font class="comment"> */</font>
00601
00602 <font class="comment">// Let's go</font>
00603 <font class="keyword">const</font> <font class="keywordtype">double</font> _Ax = <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[numPoint] - other._3dInitPosition.x;
00604 <font class="keyword">const</font> <font class="keywordtype">double</font> _Ay = <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[numPoint] - other._3dInitPosition.y;
00605 <font class="keyword">const</font> <font class="keywordtype">double</font> _Bx = <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a> - other._Speed.x;
00606 <font class="keyword">const</font> <font class="keywordtype">double</font> _By = <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a> - other._Speed.y;
00607
00608 <font class="comment">// Eval system</font>
00609 <font class="keywordtype">double</font> s0, s1;
00610 <font class="keywordtype">double</font> squareRadius=otherPrimitive.getRadiusInternal()*otherPrimitive.getRadiusInternal();
00611 uint numSolution=<a class="code" href="namespaceNLPACS.html#a29">secondDegree</a> (_Bx*_Bx+_By*_By, 2.f*(_Ax*_Bx+_Ay*_By), _Ax*_Ax+_Ay*_Ay-squareRadius, s0, s1);
00612 <font class="keywordflow">if</font> (numSolution!=0)
00613 {
00614 <font class="comment">// time</font>
00615 <font class="keywordtype">double</font> time;
00616
00617 <font class="comment">// Collision time</font>
00618 <font class="keywordflow">if</font> (numSolution==1)
00619 {
00620 firstContactTime=s0;
00621 lastContactTime=s0;
00622 }
00623 <font class="keywordflow">else</font>
00624 {
00625 <font class="comment">// First and last time</font>
00626 <font class="keywordflow">if</font> (s0<s1)
00627 {
00628 firstContactTime=s0;
00629 lastContactTime=s1;
00630 }
00631 <font class="keywordflow">else</font>
00632 {
00633 firstContactTime=s1;
00634 lastContactTime=s0;
00635 }
00636 }
00637 time=firstContactTime;
00638
00639 <font class="comment">// Pos Z</font>
00640 <font class="keyword">const</font> <font class="keywordtype">double</font> pointCylZ=other._3dInitPosition.z;
00641 <font class="keyword">const</font> <font class="keywordtype">double</font> cylPosZ= pointCylZ + other._Speed.z*time;
00642
00643 <font class="comment">// Some constants</font>
00644 <font class="keyword">const</font> <font class="keywordtype">double</font> pointZ=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m2">z</a>;
00645 <font class="keyword">const</font> <font class="keywordtype">double</font> ptPosZ= pointZ + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m2">z</a>*time;
00646
00647 <font class="comment">// Z Included ?</font>
00648 <font class="keywordflow">if</font> ( (ptPosZ <= cylPosZ + otherPrimitive.getHeightInternal()) && (ptPosZ + primitive.getHeightInternal() >= cylPosZ) )
00649 {
00650 <font class="comment">// Ok Collision, fill the result</font>
00651
00652 <font class="comment">// Time</font>
00653 desc.ContactTime=time;
00654
00655 <font class="comment">// Point position</font>
00656 <font class="keyword">const</font> <font class="keywordtype">double</font> ptPosX= <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[numPoint] + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>*time;
00657 <font class="keyword">const</font> <font class="keywordtype">double</font> ptPosY= <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[numPoint] + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>*time;
00658
00659 <font class="comment">// Cylinder position</font>
00660 <font class="keyword">const</font> <font class="keywordtype">double</font> cylPosX= other._3dInitPosition.x + other._Speed.x*time;
00661 <font class="keyword">const</font> <font class="keywordtype">double</font> cylPosY= other._3dInitPosition.y + other._Speed.y*time;
00662
00663 <font class="comment">// Position</font>
00664 desc.ContactPosition.x=ptPosX;
00665 desc.ContactPosition.y=ptPosY;
00666 desc.ContactPosition.z=std::max (cylPosZ, ptPosZ);
00667
00668 <font class="comment">// Cylinder normal</font>
00669 desc.ContactNormal1.x=ptPosX-cylPosX;
00670 desc.ContactNormal1.y=ptPosY-cylPosY;
00671 desc.ContactNormal1.z=0;
00672 desc.ContactNormal1.normalize ();
00673 desc.ContactNormal0.x=-desc.ContactNormal1.x;
00674 desc.ContactNormal0.y=-desc.ContactNormal1.y;
00675 desc.ContactNormal0.z=0;
00676
00677 <font class="comment">// End</font>
00678 <font class="keywordflow">return</font> <font class="keyword">true</font>;
00679 }
00680 }
00681
00682 <font class="comment">// No collision</font>
00683 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00684 }
00685
00686 <font class="comment">// ***************************************************************************</font>
00687
<a name="l00688"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a41">00688</a> <font class="keywordtype">bool</font> CPrimitiveWorldImage::evalCollisionSoverOC (CPrimitiveWorldImage& other, CCollisionDesc& desc, uint numSeg, CMovePrimitive& primitive,
00689 CMovePrimitive& otherPrimitive)
00690 {
00691 <font class="comment">// Checks</font>
00692 <a class="code" href="debug_8h.html#a6">nlassert</a> (primitive.getPrimitiveTypeInternal()==UMovePrimitive::_2DOrientedBox);
00693 <a class="code" href="debug_8h.html#a6">nlassert</a> (otherPrimitive.getPrimitiveTypeInternal()==UMovePrimitive::_2DOrientedCylinder);
00694
00695 <font class="comment">// Some constants</font>
00696 <font class="keyword">const</font> <font class="keywordtype">double</font> normalSegX=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.EdgeDirectionY[numSeg];
00697 <font class="keyword">const</font> <font class="keywordtype">double</font> normalSegY=-<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.EdgeDirectionX[numSeg];
00698
00699 <font class="comment">// Relative speed</font>
00700 <font class="keyword">const</font> <font class="keywordtype">double</font> speedX=other._Speed.x-<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>;
00701 <font class="keyword">const</font> <font class="keywordtype">double</font> speedY=other._Speed.y-<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>;
00702
00703 <font class="comment">// Dot product with the plan tangeante</font>
00704 <font class="keywordtype">double</font> dotProd= speedX*normalSegX + speedY*normalSegY;
00705 <font class="comment">//if ( dotProd < 0 )</font>
00706 <font class="keywordflow">if</font> ( dotProd !=0 )
00707 {
00708 <font class="comment">// Time of the collision</font>
00709 <font class="keywordtype">double</font> time= (otherPrimitive.getRadiusInternal() + normalSegX*(<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[numSeg] - other._3dInitPosition.x ) +
00710 normalSegY*(<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[numSeg] - other._3dInitPosition.y ) ) / dotProd;
00711
00712 <font class="comment">// Position of segment point at collision time</font>
00713 <font class="keyword">const</font> <font class="keywordtype">double</font> segPosX= <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[numSeg] + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>*time;
00714 <font class="keyword">const</font> <font class="keywordtype">double</font> segPosY= <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[numSeg] + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>*time;
00715
00716 <font class="comment">// Position of the cylinder at collision time</font>
00717 <font class="keyword">const</font> <font class="keywordtype">double</font> cylPosX= other._3dInitPosition.x + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>*time;
00718 <font class="keyword">const</font> <font class="keywordtype">double</font> cylPosY= other._3dInitPosition.y + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>*time;
00719
00720 <font class="comment">// Position de contact</font>
00721 <font class="keyword">const</font> <font class="keywordtype">double</font> contactX= cylPosX - normalSegX*otherPrimitive.getRadiusInternal();
00722 <font class="keyword">const</font> <font class="keywordtype">double</font> contactY= cylPosY - normalSegY*otherPrimitive.getRadiusInternal();
00723
00724 <font class="comment">// Direction of the collision on the segment</font>
00725 <font class="keyword">const</font> <font class="keywordtype">double</font> dirX= contactX - segPosX;
00726 <font class="keyword">const</font> <font class="keywordtype">double</font> dirY= contactY - segPosY;
00727
00728 <font class="comment">// Length of this vector</font>
00729 <font class="keyword">const</font> <font class="keywordtype">double</font> length= dirY*normalSegX - dirX*normalSegY;
00730
00731 <font class="comment">// Included ?</font>
00732 <font class="keywordflow">if</font> ( ( length >= 0 ) && ( length <= primitive.getLength (numSeg&1) ) )
00733 {
00734 <font class="comment">// 2d Collid checked... Now check height</font>
00735
00736 <font class="comment">// Pos Z</font>
00737 <font class="keyword">const</font> <font class="keywordtype">double</font> segPosZ= <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m2">z</a> + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m2">z</a>*time;
00738
00739 <font class="comment">// Some constants</font>
00740 <font class="keyword">const</font> <font class="keywordtype">double</font> cylPosZ= other._3dInitPosition.z + other._Speed.z*time;
00741
00742 <font class="comment">// Included ?</font>
00743 <font class="keywordflow">if</font> ( (cylPosZ <= segPosZ + primitive.getHeightInternal() ) && (cylPosZ + otherPrimitive.getHeightInternal() >= segPosZ) )
00744 {
00745 <font class="comment">// Ok Collision, fill the result</font>
00746
00747 <font class="comment">// Time</font>
00748 desc.ContactTime=time;
00749
00750 <font class="comment">// Position</font>
00751 desc.ContactPosition.x=contactX;
00752 desc.ContactPosition.y=contactY;
00753 desc.ContactPosition.z=std::max (segPosZ, cylPosZ);
00754
00755 <font class="comment">// Segment normal</font>
00756 desc.ContactNormal0.x=normalSegX;
00757 desc.ContactNormal0.y=normalSegY;
00758 desc.ContactNormal0.z=0;
00759
00760 <font class="comment">// Seg box normal</font>
00761 desc.ContactNormal1.x=contactX-cylPosX;
00762 desc.ContactNormal1.y=contactY-cylPosY;
00763 desc.ContactNormal1.z=0;
00764 desc.ContactNormal1.normalize ();
00765
00766 <font class="comment">// End</font>
00767 <font class="keywordflow">return</font> <font class="keyword">true</font>;
00768 }
00769 }
00770 }
00771
00772 <font class="comment">// No collision</font>
00773 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00774 }
00775
00776
00777 <font class="comment">// ***************************************************************************</font>
00778
<a name="l00779"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a38">00779</a> <font class="keywordtype">bool</font> CPrimitiveWorldImage::evalCollisionOCoverOC (CPrimitiveWorldImage& other, CCollisionDesc& desc, <font class="keywordtype">double</font> timeMin, <font class="keywordtype">double</font> timeMax,
00780 <font class="keywordtype">double</font> &firstContactTime, <font class="keywordtype">double</font> &lastContactTime, CMovePrimitive& primitive,
00781 CMovePrimitive& otherPrimitive)
00782 {
00783 <font class="comment">// Checks</font>
00784 <a class="code" href="debug_8h.html#a6">nlassert</a> (primitive.getPrimitiveTypeInternal()==UMovePrimitive::_2DOrientedCylinder);
00785 <a class="code" href="debug_8h.html#a6">nlassert</a> (otherPrimitive.getPrimitiveTypeInternal()==UMovePrimitive::_2DOrientedCylinder);
00786
00787
00788 <font class="comment">/* Cylinder0 center equ:</font>
00789 <font class="comment"> * p(t) = p0 + v0*(t - t0)</font>
00790 <font class="comment"> *</font>
00791 <font class="comment"> * Cylinder1 center equ:</font>
00792 <font class="comment"> * p'(t) = p'0 + v'0*(t - t'0)</font>
00793 <font class="comment"> *</font>
00794 <font class="comment"> * Find t for this equation:</font>
00795 <font class="comment"> * (R + R')� = Norm� (p(t) - p'(t))</font>
00796 <font class="comment"> * (R + R')� = Norm� ( p0 + v0 ( t - t0 ) - p'0 - v'0 ( t - t'0 ) )</font>
00797 <font class="comment"> *</font>
00798 <font class="comment"> * A = p0 - v0*t0 - p'0 + v'0*t'0</font>
00799 <font class="comment"> * B = (v0 - v'0)</font>
00800 <font class="comment"> *</font>
00801 <font class="comment"> * Norm� (B)*t� + 2*(A.B)*t + Norm� (A) - (R + R')� = 0</font>
00802 <font class="comment"> *</font>
00803 <font class="comment"> * a = Norm� (B)</font>
00804 <font class="comment"> * b = 2*(A.B)</font>
00805 <font class="comment"> * c = Norm� (A) - (R + R')�</font>
00806 <font class="comment"> *</font>
00807 <font class="comment"> * a*t� + b*t + c = 0</font>
00808 <font class="comment"> */</font>
00809
00810 <font class="comment">// Let's go</font>
00811 <font class="keyword">const</font> <font class="keywordtype">double</font> _Ax = <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a> - other._3dInitPosition.x;
00812 <font class="keyword">const</font> <font class="keywordtype">double</font> _Ay = <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a> - other._3dInitPosition.y;
00813 <font class="keyword">const</font> <font class="keywordtype">double</font> _Bx = <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a> - other._Speed.x;
00814 <font class="keyword">const</font> <font class="keywordtype">double</font> _By = <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a> - other._Speed.y;
00815
00816 <font class="comment">// Eval system</font>
00817 <font class="keywordtype">double</font> s0, s1;
00818 <font class="keywordtype">double</font> radiusSquare=primitive.getRadiusInternal()+otherPrimitive.getRadiusInternal();
00819 radiusSquare*=radiusSquare;
00820 uint numSolution=<a class="code" href="namespaceNLPACS.html#a29">secondDegree</a> (_Bx*_Bx+_By*_By, 2.f*(_Ax*_Bx+_Ay*_By), _Ax*_Ax+_Ay*_Ay-radiusSquare, s0, s1);
00821 <font class="keywordflow">if</font> (numSolution!=0)
00822 {
00823 <font class="comment">// time</font>
00824 <font class="keywordtype">double</font> _timeMin, _timeMax;
00825
00826 <font class="comment">// Collision time</font>
00827 <font class="keywordflow">if</font> (numSolution==1)
00828 {
00829 _timeMin=s0;
00830 _timeMax=s0;
00831 }
00832 <font class="keywordflow">else</font>
00833 {
00834 <font class="comment">// Time min and max</font>
00835 <font class="keywordflow">if</font> (s0>s1)
00836 {
00837 _timeMin=s1;
00838 _timeMax=s0;
00839 }
00840 <font class="keywordflow">else</font>
00841 {
00842 _timeMin=s0;
00843 _timeMax=s1;
00844 }
00845 }
00846
00847 <font class="comment">// half time</font>
00848 <font class="comment">//const double halfTime=(_timeMin+_timeMax)/2.0;</font>
00849
00850 <font class="comment">// Conatct time</font>
00851 firstContactTime=_timeMin;
00852 lastContactTime=_timeMax;
00853
00854 <font class="comment">// Clip time</font>
00855 <font class="keywordflow">if</font> ((timeMin<_timeMax)&&(_timeMin<timeMax))
00856 {
00857 <font class="comment">// Some constants</font>
00858 <font class="keyword">const</font> <font class="keywordtype">double</font> cyl0Time= _timeMin;
00859 <font class="keyword">const</font> <font class="keywordtype">double</font> pointCyl0Z=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m2">z</a>;
00860 <font class="keyword">const</font> <font class="keywordtype">double</font> cyl0PosZ= pointCyl0Z + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m2">z</a>*cyl0Time;
00861
00862 <font class="comment">// Pos Z</font>
00863 <font class="keyword">const</font> <font class="keywordtype">double</font> cyl1Time= _timeMin;
00864 <font class="keyword">const</font> <font class="keywordtype">double</font> pointCyl1Z=other._3dInitPosition.z;
00865 <font class="keyword">const</font> <font class="keywordtype">double</font> cyl1PosZ= pointCyl1Z + other._Speed.z * cyl1Time;
00866
00867 <font class="comment">// Z Included ?</font>
00868 <font class="keywordflow">if</font> ( (cyl0PosZ <= cyl1PosZ + otherPrimitive.getHeightInternal() ) && (cyl0PosZ + primitive.getHeightInternal() >= cyl1PosZ) )
00869 {
00870 <font class="comment">// Ok Collision, fill the result</font>
00871
00872 <font class="comment">// Time</font>
00873 desc.ContactTime=std::max (_timeMin, timeMin);
00874
00875 <font class="comment">// Cylinder 0 position</font>
00876 <font class="keyword">const</font> <font class="keywordtype">double</font> cyl0PosX= <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a> + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>*cyl0Time;
00877 <font class="keyword">const</font> <font class="keywordtype">double</font> cyl0PosY= <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a> + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>*cyl0Time;
00878
00879 <font class="comment">// Cylinder 1 position</font>
00880 <font class="keyword">const</font> <font class="keywordtype">double</font> cyl1PosX= other._3dInitPosition.x + other._Speed.x*cyl1Time;
00881 <font class="keyword">const</font> <font class="keywordtype">double</font> cyl1PosY= other._3dInitPosition.y + other._Speed.y*cyl1Time;
00882
00883 <font class="comment">// First cylinder normal</font>
00884 desc.ContactNormal0.x= cyl1PosX - cyl0PosX;
00885 desc.ContactNormal0.y= cyl1PosY - cyl0PosY;
00886 desc.ContactNormal0.z= 0;
00887 desc.ContactNormal0.normalize ();
00888
00889 <font class="comment">// Contact position</font>
00890 desc.ContactPosition.x= desc.ContactNormal0.x*primitive.getRadiusInternal() + cyl0PosX;
00891 desc.ContactPosition.y= desc.ContactNormal0.y*primitive.getRadiusInternal() + cyl0PosY;
00892 desc.ContactPosition.z= std::max (cyl0PosZ, cyl1PosZ);
00893
00894 <font class="comment">// Second cylinder normal</font>
00895 desc.ContactNormal1.x= -desc.ContactNormal0.x;
00896 desc.ContactNormal1.y= -desc.ContactNormal0.y;
00897 desc.ContactNormal1.z= 0;
00898
00899 <font class="comment">// End</font>
00900 <font class="keywordflow">return</font> <font class="keyword">true</font>;
00901 }
00902 }
00903 }
00904
00905 <font class="comment">// No collision</font>
00906 <font class="keywordflow">return</font> <font class="keyword">false</font>;
00907 }
00908
00909 <font class="comment">// ***************************************************************************</font>
00910
<a name="l00911"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a32">00911</a> <font class="keywordtype">void</font> CPrimitiveWorldImage::precalcPos (CMovePrimitive &primitive)
00912 {
00913 <font class="comment">// Type of the primitive</font>
00914 uint <a class="code" href="driver__opengl__extension__def_8h.html#a373">type</a>=primitive.getPrimitiveTypeInternal();
00915
00916 <font class="comment">// Box ?</font>
00917 <font class="keywordflow">if</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a373">type</a>==UMovePrimitive::_2DOrientedBox)
00918 {
00919 <font class="comment">// Calc cosinus and sinus</font>
00920 <font class="keywordtype">double</font> cosinus=(double)cos(<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.Orientation);
00921 <font class="keywordtype">double</font> sinus=(double)sin(<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.Orientation);
00922
00923 <font class="comment">// Size</font>
00924 <font class="keywordtype">double</font> halfWidth=primitive.getLength (0)/2;
00925 <font class="keywordtype">double</font> halfDepth=primitive.getLength (1)/2;
00926
00927 <font class="comment">// First point</font>
00928 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[0]=cosinus*(-halfWidth)-sinus*(-halfDepth)+<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>;
00929 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[0]=sinus*(-halfWidth)+cosinus*(-halfDepth)+<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>;
00930
00931 <font class="comment">// Second point</font>
00932 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[1]=cosinus*halfWidth-sinus*(-halfDepth)+<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>;
00933 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[1]=sinus*halfWidth+cosinus*(-halfDepth)+<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>;
00934
00935 <font class="comment">// Third point</font>
00936 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[2]=cosinus*halfWidth-sinus*halfDepth+<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>;
00937 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[2]=sinus*halfWidth+cosinus*halfDepth+<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>;
00938
00939 <font class="comment">// Fourth point</font>
00940 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[3]=cosinus*(-halfWidth)-sinus*halfDepth+<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>;
00941 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[3]=sinus*(-halfWidth)+cosinus*halfDepth+<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>;
00942
00943 <font class="comment">// Direction</font>
00944 <font class="keywordtype">double</font> oneOverLength[2]= { 1 / primitive.getLength(0), 1 / primitive.getLength(1) };
00945
00946 <font class="comment">// Direction</font>
00947 uint i;
00948 <font class="keywordflow">for</font> (i=0; i<4; i++)
00949 {
00950 <font class="comment">// Next index</font>
00951 uint next=(i+1)&3;
00952 <font class="keywordtype">double</font> oneOver=oneOverLength[i&1];
00953
00954 <font class="comment">// New direction</font>
00955 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.EdgeDirectionX[i]=(<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[next] - <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[i])*oneOver;
00956 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.EdgeDirectionY[i]=(<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[next] - <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[i])*oneOver;
00957 }
00958 }
00959 <font class="keywordflow">else</font>
00960 {
00961 <font class="comment">// Should be a cylinder</font>
00962 <a class="code" href="debug_8h.html#a6">nlassert</a> (<a class="code" href="driver__opengl__extension__def_8h.html#a373">type</a>==UMovePrimitive::_2DOrientedCylinder);
00963 }
00964 }
00965
00966 <font class="comment">// ***************************************************************************</font>
00967
<a name="l00968"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a34">00968</a> <font class="keywordtype">void</font> CPrimitiveWorldImage::precalcBB (<font class="keywordtype">double</font> beginTime, <font class="keywordtype">double</font> endTime, CMovePrimitive &primitive)
00969 {
00970 <font class="comment">// Type of the primitive</font>
00971 uint <a class="code" href="driver__opengl__extension__def_8h.html#a373">type</a>=primitive.getPrimitiveTypeInternal();
00972
00973 <font class="comment">// Box ?</font>
00974 <font class="keywordflow">if</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a373">type</a>==UMovePrimitive::_2DOrientedBox)
00975 {
00976 <font class="comment">// Orientation index</font>
00977 sint orient= (sint)(256.f*<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.Orientation/(2.f*NLMISC::Pi));
00978 orient&=0xff;
00979 orient>>=6;
00980 <a class="code" href="debug_8h.html#a6">nlassert</a> (orient>=0);
00981 <a class="code" href="debug_8h.html#a6">nlassert</a> (orient<4);
00982
00983 <font class="comment">// Compute coordinates</font>
00984 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>=FLT_MAX;
00985 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>=FLT_MAX;
00986 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>=-FLT_MAX;
00987 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>=-FLT_MAX;
00988
00989 <font class="keywordflow">for</font> (uint i=0; i<4; i++)
00990 {
00991 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[i]<<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>)
00992 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[i];
00993 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[i]><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>)
00994 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[i];
00995 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[i]<<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>)
00996 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[i];
00997 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[i]><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>)
00998 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosY[i];
00999 }
01000 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>=<a class="code" href="bit__set_8cpp.html#a0">std::min</a> (std::min (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>, <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>+endTime*<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>), <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>+beginTime*<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>);
01001 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>=std::max (std::max (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>, <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>+endTime*<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>), <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>+beginTime*<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>);
01002 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>=<a class="code" href="bit__set_8cpp.html#a0">std::min</a> (std::min (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>, <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>+endTime*<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>), <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>+beginTime*<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>);
01003 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>=std::max (std::max (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>, <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>+endTime*<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>), <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>+beginTime*<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>);
01004
01005 <font class="comment">/* </font>
01006 <font class="comment"> // This code is faster but buggy.. </font>
01007 <font class="comment"> _BBXMin= _OBData.PointPosX[minX[orient]] + _Speed.x*beginTime;</font>
01008 <font class="comment"> _BBXMin= std::min (_BBXMin, _OBData.PointPosX[minX[orient]] + _Speed.x*endTime);</font>
01009 <font class="comment"></font>
01010 <font class="comment"> _BBYMin= _OBData.PointPosY[minY[orient]] + _Speed.y*beginTime;</font>
01011 <font class="comment"> _BBYMin= std::min (_BBYMin, _OBData.PointPosY[minY[orient]] + _Speed.y*endTime);</font>
01012 <font class="comment"></font>
01013 <font class="comment"> _BBXMax= _OBData.PointPosX[maxX[orient]] + _Speed.x*beginTime;</font>
01014 <font class="comment"> _BBXMax= std::max (_BBXMax, _OBData.PointPosX[maxX[orient]] + _Speed.x*endTime);</font>
01015 <font class="comment"></font>
01016 <font class="comment"> _BBYMax= _OBData.PointPosY[maxY[orient]] + _Speed.y*beginTime;</font>
01017 <font class="comment"> _BBYMax= std::max (_BBYMax, _OBData.PointPosY[maxY[orient]] + _Speed.y*endTime);*/</font>
01018 }
01019 <font class="keywordflow">else</font>
01020 {
01021 <font class="comment">// Should be a cylinder</font>
01022 <a class="code" href="debug_8h.html#a6">nlassert</a> (<a class="code" href="driver__opengl__extension__def_8h.html#a373">type</a>==UMovePrimitive::_2DOrientedCylinder);
01023
01024 <font class="comment">// Compute X coordinates</font>
01025 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>= <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a> + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>*beginTime;
01026 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>= <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a> + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>*endTime;
01027 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>)
01028 {
01029 <font class="keywordtype">double</font> tmp=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>;
01030 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>;
01031 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>=tmp;
01032 }
01033 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>-=primitive.getRadiusInternal();
01034 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>+=primitive.getRadiusInternal();
01035
01036 <font class="comment">// Compute Y coordinates</font>
01037 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>= <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a> + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>*beginTime;
01038 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>= <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a> + <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>*endTime;
01039 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>)
01040 {
01041 <font class="keywordtype">double</font> tmp=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>;
01042 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>;
01043 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>=tmp;
01044 }
01045 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>-=primitive.getRadiusInternal();
01046 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>+=primitive.getRadiusInternal();
01047 }
01048
01049 <font class="comment">// Delta position</font>
01050 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o4">_DeltaPosition</a>=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>*(endTime-beginTime);
01051 }
01052
01053 <font class="comment">// ***************************************************************************</font>
01054
<a name="l01055"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a23">01055</a> <font class="keywordtype">void</font> CPrimitiveWorldImage::addMoveElement (CMoveCell& cell, 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>, <font class="keywordtype">double</font> centerX, <font class="keywordtype">double</font> centerY, CMovePrimitive *primitive,
01056 CMoveContainer &container, uint8 worldImage)
01057 {
01058 <font class="comment">// Find a free place</font>
01059 uint slot;
01060 <font class="keywordflow">for</font> (slot=0; slot<4; slot++)
01061 {
01062 <font class="comment">// Empty ?</font>
01063 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot]==NULL)
01064 {
01065 <font class="comment">// Primitive center</font>
01066 <font class="keywordtype">double</font> cx=(<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>+<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>)/2.f;
01067
01068 <font class="comment">// Allocate move element</font>
01069 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot]=container.allocateMoveElement ();
01070 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot]->Primitive=primitive;
01071 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot]->X=<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>;
01072 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot]->Y=<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>;
01073
01074 <font class="comment">// Insert in left or right ?</font>
01075 <font class="keywordflow">if</font> (cx<centerX)
01076 <font class="comment">// In the left</font>
01077 cell.linkFirstX (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot]);
01078 <font class="keywordflow">else</font>
01079 <font class="comment">// In the right</font>
01080 cell.linkLastX (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot]);
01081
01082 <font class="comment">/*// Insert in left or right ?</font>
01083 <font class="comment"> if (cy<centerY)</font>
01084 <font class="comment"> // In the left</font>
01085 <font class="comment"> cell.linkFirstY (_MoveElement[slot]);</font>
01086 <font class="comment"> else</font>
01087 <font class="comment"> // In the right</font>
01088 <font class="comment"> cell.linkLastY (_MoveElement[slot]);*/</font>
01089
01090 <font class="comment">// Move it</font>
01091 cell.updateSortedLists (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot], worldImage);
01092
01093 <font class="comment">// End</font>
01094 <font class="keywordflow">break</font>;
01095 }
01096 }
01097 }
01098
01099 <font class="comment">// ***************************************************************************</font>
01100
01101 <font class="keywordtype">void</font> CPrimitiveWorldImage::addMoveElementendOfList (CMoveCell& cell, 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>, CMovePrimitive *primitive,
01102 CMoveContainer &container)
01103 {
01104 <font class="comment">// Find a free place</font>
01105 uint slot;
01106 <font class="keywordflow">for</font> (slot=0; slot<4; slot++)
01107 {
01108 <font class="comment">// Empty ?</font>
01109 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot]==NULL)
01110 {
01111 <font class="comment">// Allocate move element</font>
01112 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot]=container.allocateMoveElement ();
01113 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot]->Primitive=primitive;
01114 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot]->X=<a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>;
01115 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot]->Y=<a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>;
01116
01117 <font class="comment">// In the right</font>
01118 cell.linkLastX (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot]);
01119
01120 <font class="comment">// End</font>
01121 <font class="keywordflow">break</font>;
01122 }
01123 }
01124 }
01125
01126 <font class="comment">// ***************************************************************************</font>
01127
<a name="l01128"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a22">01128</a> <font class="keywordtype">void</font> CPrimitiveWorldImage::removeMoveElement (uint i, CMoveContainer &container, uint8 worldImage)
01129 {
01130 <font class="comment">// Check</font>
01131 <a class="code" href="debug_8h.html#a6">nlassert</a> ((i>=0)||(i<4));
01132 <a class="code" href="debug_8h.html#a6">nlassert</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[i]!=NULL);
01133
01134 <font class="comment">// Unlink the element</font>
01135 container.unlinkMoveElement (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[i], worldImage);
01136
01137 <font class="comment">// Free the move element</font>
01138 container.freeMoveElement (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[i]);
01139
01140 <font class="comment">// Set to NULL</font>
01141 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[i]=NULL;
01142 }
01143
01144 <font class="comment">// ***************************************************************************</font>
01145
<a name="l01146"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a26">01146</a> <font class="keywordtype">void</font> CPrimitiveWorldImage::checkSortedList (uint8 worldImage)
01147 {
01148 <font class="comment">// For the 4 elements</font>
01149 <font class="keywordflow">for</font> (uint i=0; i<4; i++)
01150 {
01151 <font class="comment">// element here ?</font>
01152 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[i])
01153 {
01154 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[i]->PreviousX)
01155 <a class="code" href="debug_8h.html#a7">nlassertonce</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[i]->PreviousX->Primitive->getWorldImage(worldImage)->_BBXMin <= <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>);
01156 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[i]->NextX)
01157 <a class="code" href="debug_8h.html#a7">nlassertonce</a> (_BBXMin <= _MoveElement[i]->NextX->Primitive->getWorldImage(worldImage)->_BBXMin);
01158 }
01159 }
01160 }
01161
01162 <font class="comment">// ***************************************************************************</font>
01163
<a name="l01164"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a45">01164</a> <font class="keywordtype">void</font> CPrimitiveWorldImage::reaction (CPrimitiveWorldImage& second, <font class="keyword">const</font> CCollisionDesc& desc, CGlobalRetriever* retriever,
01165 CCollisionSurfaceTemp& surfaceTemp, <font class="keywordtype">bool</font> collision, CMovePrimitive &primitive,
01166 CMovePrimitive &otherPrimitive, CMoveContainer *container, uint8 worldImage, uint8 secondWorldImage,
01167 <font class="keywordtype">bool</font> secondConst)
01168 {
01169 <font class="comment">// H_AUTO(PACS_PWI_reaction_long);</font>
01170
01171 <font class="comment">// TODO: reaction for no collision must be made on the full deltaTime not only to CollisionTime</font>
01172
01173 <font class="comment">// Get the two reaction codes</font>
01174 UMovePrimitive::TReaction firstReaction=primitive.getReactionTypeInternal();
01175 UMovePrimitive::TReaction secondReaction=otherPrimitive.getReactionTypeInternal();
01176
01177 <font class="comment">// Overide collsion </font>
01178 collision = collision && (primitive.isObstacle ()) && (otherPrimitive.isObstacle ());
01179
01180 <font class="comment">// Get the two mass</font>
01181 <font class="keywordtype">float</font> mass0 = primitive.getMass ();
01182 <font class="keywordtype">float</font> mass1 = otherPrimitive.getMass ();
01183
01184 <font class="comment">// Energy sum</font>
01185 <font class="keywordtype">double</font> projSpeed0 = desc.ContactNormal1 * <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>;
01186 <font class="keywordtype">double</font> projSpeed1 = desc.ContactNormal0 * second._Speed;
01187 <font class="keywordtype">double</font> energySum = (- mass0 * projSpeed0 - mass1 * projSpeed1 ) / 2.0;
01188
01189 <font class="comment">// Old position</font>
01190 CVectorD collisionPosition=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>;
01191 collisionPosition+=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>*desc.ContactTime;
01192
01193 <font class="comment">// Calc new speed</font>
01194 CVectorD newSpeed;
01195
01196 <font class="comment">// Obstacle ?</font>
01197 <font class="keywordflow">if</font> ( (!collision) || (firstReaction==UMovePrimitive::DoNothing) )
01198 newSpeed=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>;
01199 <font class="keywordflow">else</font>
01200 {
01201 <font class="keywordflow">switch</font> (firstReaction)
01202 {
01203 <font class="keywordflow">case</font> UMovePrimitive::Slide:
01204 <font class="comment">// Remove projected speed</font>
01205 newSpeed=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a> - projSpeed0 * desc.ContactNormal1;
01206
01207 <font class="comment">// Reflexion speed</font>
01208 newSpeed+=( primitive.getAttenuation()*energySum / mass0 ) * desc.ContactNormal1;
01209 <font class="keywordflow">break</font>;
01210 <font class="keywordflow">case</font> UMovePrimitive::Reflexion:
01211 <font class="comment">// Remove projected speed</font>
01212 newSpeed=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a> - projSpeed0 * desc.ContactNormal1;
01213
01214 <font class="comment">// Reflexion speed</font>
01215 newSpeed+=( primitive.getAttenuation()*energySum / mass0 ) * desc.ContactNormal1;
01216 <font class="keywordflow">break</font>;
01217 <font class="keywordflow">case</font> UMovePrimitive::Stop:
01218 newSpeed.<a class="code" href="classNLMISC_1_1CVectorD.html#z346_0">set</a> (0,0,0);
01219 <font class="keywordflow">break</font>;
01220 <font class="keywordflow">default</font>: <font class="keywordflow">break</font>;
01221 }
01222 }
01223
01224 <font class="comment">// Set new speed</font>
01225 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a8">setSpeed</a> (newSpeed, container, &primitive, worldImage);
01226
01227 <font class="comment">// New position at t=0</font>
01228 <font class="keywordflow">if</font> (retriever)
01229 {
01230 <font class="comment">// Make a domove in the Ben data</font>
01231 <font class="keywordtype">double</font> deltaDist= <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o4">_DeltaPosition</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#z345_2">norm</a>();
01232 <font class="keywordtype">double</font> deltaTime;
01233 <font class="keywordflow">if</font>(deltaDist<0.000001)
01234 deltaTime= 0;
01235 <font class="keywordflow">else</font>
01236 deltaTime=(collisionPosition-<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a0">getPos</a> ()).norm()/deltaDist;
01237 <a class="code" href="debug_8h.html#a6">nlassert</a> (deltaTime>=0);
01238 <a class="code" href="debug_8h.html#a6">nlassert</a> (deltaTime<=1);
01239
01240 UGlobalPosition newPosition = retriever->doMove (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a2">getGlobalPos</a> (), <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o4">_DeltaPosition</a>,
01241 (float)deltaTime, surfaceTemp, <font class="keyword">true</font>);
01242
01243 <font class="comment">// Set the new position</font>
01244 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a3">setGlobalPos</a> (newPosition, *retriever);
01245
01246 <font class="comment">// Position at t=0</font>
01247 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a> = <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a0">getPos</a>() - newSpeed * desc.ContactTime;
01248
01249 <font class="comment">// New init time</font>
01250 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">_InitTime</a> = desc.ContactTime;
01251 }
01252 <font class="keywordflow">else</font>
01253 {
01254 <font class="comment">// No retriever used</font>
01255 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a1">setPos</a> (collisionPosition);
01256
01257 <font class="comment">// Position at t=0</font>
01258 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a> = collisionPosition - newSpeed * desc.ContactTime;
01259
01260 <font class="comment">// New init time</font>
01261 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">_InitTime</a> = desc.ContactTime;
01262 }
01263
01264 <font class="comment">// Dirt pos</font>
01265 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a29">dirtPos</a> (container, &primitive, worldImage);
01266
01267 <font class="comment">// ****** Second object</font>
01268
01269 <font class="comment">// Is second object in a static world ?</font>
01270 <font class="keywordflow">if</font> (!secondConst)
01271 {
01272 <font class="comment">// Old position</font>
01273 collisionPosition=second._3dInitPosition;
01274 collisionPosition+=second._Speed * desc.ContactTime;
01275
01276 <font class="comment">// Obstacle ?</font>
01277 <font class="keywordflow">if</font> ( (!collision) || (secondReaction==UMovePrimitive::DoNothing) )
01278 newSpeed=second._Speed;
01279 <font class="keywordflow">else</font>
01280 {
01281 <font class="keywordflow">switch</font> (secondReaction)
01282 {
01283 <font class="keywordflow">case</font> UMovePrimitive::Slide:
01284 <font class="comment">// Remove projected speed</font>
01285 newSpeed=second._Speed - projSpeed1 * desc.ContactNormal0;
01286
01287 <font class="comment">// Reflexion speed</font>
01288 newSpeed+=( otherPrimitive.getAttenuation()*energySum / mass1 ) * desc.ContactNormal1;
01289 <font class="keywordflow">break</font>;
01290 <font class="keywordflow">case</font> UMovePrimitive::Reflexion:
01291 <font class="comment">// Remove projected speed</font>
01292 newSpeed=second._Speed - projSpeed1 * desc.ContactNormal0;
01293
01294 <font class="comment">// Reflexion speed</font>
01295 newSpeed+=( otherPrimitive.getAttenuation()*energySum / mass1 ) * desc.ContactNormal0;
01296 <font class="keywordflow">break</font>;
01297 <font class="keywordflow">case</font> UMovePrimitive::Stop:
01298 newSpeed.set (0,0,0);
01299 <font class="keywordflow">break</font>;
01300 <font class="keywordflow">default</font>: <font class="keywordflow">break</font>;
01301 }
01302 }
01303
01304 <font class="comment">// Set new speed</font>
01305 second.setSpeed (newSpeed, container, &otherPrimitive, secondWorldImage);
01306
01307 <font class="comment">// New position at t=0</font>
01308 <font class="keywordflow">if</font> (retriever)
01309 {
01310 <font class="comment">// Make a domove in the Ben data</font>
01311 <font class="keywordtype">double</font> deltaDist= second._DeltaPosition.norm();
01312 <font class="keywordtype">double</font> deltaTime;
01313 <font class="keywordflow">if</font>(deltaDist==0)
01314 deltaTime= 0;
01315 <font class="keywordflow">else</font>
01316 deltaTime=(collisionPosition-second._Position.getPos ()).norm()/deltaDist;
01317 <a class="code" href="namespaceNLMISC.html#a215">clamp</a> (deltaTime, 0.0, 1.0);
01318
01319 UGlobalPosition newPosition = retriever->doMove (second._Position.getGlobalPos (), second._DeltaPosition,
01320 (float)deltaTime, surfaceTemp, <font class="keyword">true</font>);
01321
01322 <font class="comment">// Set the new position</font>
01323 second._Position.setGlobalPos (newPosition, *retriever);
01324
01325 <font class="comment">// Position at t=0</font>
01326 second._3dInitPosition = second._Position.getPos() - newSpeed * desc.ContactTime;
01327
01328 <font class="comment">// New init time</font>
01329 second._InitTime = desc.ContactTime;
01330 }
01331 <font class="keywordflow">else</font>
01332 {
01333 <font class="comment">// No retriever used</font>
01334 second._Position.setPos (collisionPosition);
01335
01336 <font class="comment">// Position at t=0</font>
01337 second._3dInitPosition = collisionPosition - newSpeed * desc.ContactTime;
01338
01339 <font class="comment">// New init time</font>
01340 second._InitTime = desc.ContactTime;
01341 }
01342
01343 <font class="comment">// Dirt pos</font>
01344 second.dirtPos (container, &otherPrimitive, secondWorldImage);
01345 }
01346 }
01347
01348 <font class="comment">// ***************************************************************************</font>
01349
<a name="l01350"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a46">01350</a> <font class="keywordtype">void</font> CPrimitiveWorldImage::reaction (<font class="keyword">const</font> CCollisionSurfaceDesc& surfaceDesc, <font class="keyword">const</font> UGlobalPosition& globalPosition,
01351 CGlobalRetriever& retriever, <font class="keywordtype">double</font> ratio, <font class="keywordtype">double</font> dt, CMovePrimitive &primitive, CMoveContainer &container,
01352 uint8 worldImage)
01353 {
01354 <font class="comment">// H_AUTO(PACS_PWI_reaction_short);</font>
01355
01356 <font class="comment">// Reaction type</font>
01357 uint32 <a class="code" href="driver__opengl__extension__def_8h.html#a373">type</a>=primitive.getReactionTypeInternal();
01358
01359 <font class="comment">// Reaction to the collision: copy the CGlobalRetriever::CGlobalPosition</font>
01360 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a3">setGlobalPos</a> (globalPosition, retriever);
01361
01362 <font class="comment">// Relfexion or slide ?</font>
01363 <font class="keywordflow">if</font> ((<a class="code" href="driver__opengl__extension__def_8h.html#a373">type</a>==UMovePrimitive::Reflexion)||(<a class="code" href="driver__opengl__extension__def_8h.html#a373">type</a>==UMovePrimitive::Slide))
01364 {
01365 <font class="comment">// Slide ?</font>
01366 <font class="keywordflow">if</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a373">type</a>==UMovePrimitive::Slide)
01367 {
01368 <font class="comment">// Project last delta on plane of collision.</font>
01369 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>-= surfaceDesc.ContactNormal*(surfaceDesc.ContactNormal*<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>-<a class="code" href="move__primitive_8h.html#a0">NELPACS_DIST_BACK</a>/(dt-surfaceDesc.ContactTime));
01370 }
01371
01372 <font class="comment">// Reflexion ?</font>
01373 <font class="keywordflow">if</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a373">type</a>==UMovePrimitive::Reflexion)
01374 {
01375 <font class="comment">// Project last delta on plane of collision.</font>
01376 <font class="keywordtype">double</font> speedProj=surfaceDesc.ContactNormal*<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>;
01377 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>-=surfaceDesc.ContactNormal*(speedProj+speedProj*primitive.getAttenuation()-<a class="code" href="move__primitive_8h.html#a0">NELPACS_DIST_BACK</a>/(dt-surfaceDesc.ContactTime));
01378 }
01379 }
01380 <font class="keywordflow">else</font>
01381 {
01382 <font class="comment">// Stop ?</font>
01383 <font class="keywordflow">if</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a373">type</a>==UMovePrimitive::Stop)
01384 {
01385 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>.<a class="code" href="classNLMISC_1_1CVectorD.html#z346_0">set</a> (0,0,0);
01386 }
01387 }
01388
01389 <font class="comment">// Contact time</font>
01390 <font class="keywordtype">double</font> contactTime=surfaceDesc.ContactTime;
01391
01392 <font class="comment">// Init position</font>
01393 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a> = <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a0">getPos</a>() - <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a> * contactTime;
01394
01395 <font class="comment">// Set contactTime</font>
01396 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">_InitTime</a>=contactTime;
01397
01398 <font class="comment">// Dirt pos</font>
01399 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a29">dirtPos</a> (&container, &primitive, worldImage);
01400 }
01401
01402 <font class="comment">// ***************************************************************************</font>
01403
<a name="l01404"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a3">01404</a> <font class="keywordtype">void</font> CPrimitiveWorldImage::setGlobalPosition (<font class="keyword">const</font> UGlobalPosition& pos, CMoveContainer& container, CMovePrimitive &primitive, uint8 worldImage)
01405 {
01406 <font class="comment">// Cast type</font>
01407 <a class="code" href="debug_8h.html#a6">nlassert</a> (dynamic_cast<const CMoveContainer*>(&container));
01408 <font class="keyword">const</font> CMoveContainer *cont=(<font class="keyword">const</font> CMoveContainer*)&container;
01409
01410 <font class="comment">// Use the global retriever ?</font>
01411 <a class="code" href="debug_8h.html#a6">nlassert</a> (cont->getGlobalRetriever());
01412
01413 <font class="comment">// Get the pos</font>
01414 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a3">setGlobalPos</a> (pos, *cont->getGlobalRetriever());
01415
01416 <font class="comment">// Precalc some values</font>
01417 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a> = <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a0">getPos</a> ();
01418 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">_InitTime</a> = 0;
01419
01420 <font class="comment">// Speed NULL</font>
01421 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>=CVector::Null;
01422
01423 <font class="comment">// Dirt BB</font>
01424 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a29">dirtPos</a> (&container, &primitive, worldImage);
01425 }
01426
01427 <font class="comment">// ***************************************************************************</font>
01428
<a name="l01429"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a4">01429</a> <font class="keywordtype">void</font> CPrimitiveWorldImage::setGlobalPosition (<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& pos, CMoveContainer& container, CMovePrimitive &primitive, uint8 worldImage, <font class="keywordtype">bool</font> keepZ <font class="comment">/*= false*/</font>)
01430 {
01431 <font class="comment">// Cast type</font>
01432 <a class="code" href="debug_8h.html#a6">nlassert</a> (dynamic_cast<const CMoveContainer*>(&container));
01433 <font class="keyword">const</font> CMoveContainer *cont=(<font class="keyword">const</font> CMoveContainer*)&container;
01434
01435 <font class="comment">// Get the retriever</font>
01436 CGlobalRetriever *retriever=cont->getGlobalRetriever();
01437
01438 <font class="comment">// Use a global retriever</font>
01439 <font class="keywordflow">if</font> (retriever)
01440 {
01441 <font class="comment">// Get a cvector</font>
01442 <font class="comment">// CVector vect=pos; // better with CVectorD</font>
01443
01444 <font class="comment">// Get global position</font>
01445 UGlobalPosition globalPosition=retriever->retrievePosition (pos);
01446
01447 <font class="keywordflow">if</font> (keepZ)
01448 {
01449 globalPosition.LocalPosition.Estimation.z = (float) pos.<a class="code" href="classNLMISC_1_1CVectorD.html#m2">z</a>;
01450 }
01451 <font class="comment">// Set global position</font>
01452 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a3">setGlobalPos</a> (globalPosition, *retriever);
01453 }
01454 <font class="keywordflow">else</font>
01455 {
01456 <font class="comment">// Set the position</font>
01457 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a1">setPos</a> (pos);
01458 }
01459
01460 <font class="comment">// Precalc some values</font>
01461 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a> = <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a0">getPos</a> ();
01462 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">_InitTime</a> = 0;
01463
01464 <font class="comment">// Speed NULL</font>
01465 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>=CVector::Null;
01466
01467 <font class="comment">// Dirt BB</font>
01468 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a29">dirtPos</a> (&container, &primitive, worldImage);
01469 }
01470
01471 <font class="comment">// ***************************************************************************</font>
01472
<a name="l01473"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a7">01473</a> <font class="keywordtype">void</font> CPrimitiveWorldImage::move (<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& speed, CMoveContainer& container, CMovePrimitive &primitive, uint8 worldImage)
01474 {
01475 <font class="comment">// New speed</font>
01476 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a8">setSpeed</a> (speed, &container, &primitive, worldImage);
01477
01478 <font class="comment">// Set initial position</font>
01479 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a> = <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a0">getPos</a> ();
01480
01481 <font class="comment">// Set initial time</font>
01482 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">_InitTime</a> = 0;
01483
01484 <font class="comment">// Dirt BB</font>
01485 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a29">dirtPos</a> (&container, &primitive, worldImage);
01486 }
01487
01488 <font class="comment">// ***************************************************************************</font>
01489
01490
01491 } <font class="comment">// NLPACS</font>
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