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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&lt;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 &amp;container, uint8 worldImage)
00058 {
00059         <font class="comment">// Free the move elements       </font>
00060         <font class="keywordflow">for</font> (uint i=0; i&lt;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&amp; source)
00067 {
00068         <font class="comment">// Copy</font>
00069         this-&gt;operator=(source);
00070 
00071         <font class="comment">// Reset some flags</font>
00072         <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&amp;=~<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&lt;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&amp; other, CCollisionDesc&amp; desc, <font class="keywordtype">double</font> timeMin, <font class="keywordtype">double</font> timeMax, uint32 testTime, 
00082                                                                         uint32 maxTestIteration, <font class="keywordtype">double</font> &amp;firstContactTime, <font class="keywordtype">double</font> &amp;lastContactTime, CMovePrimitive&amp; primitive,
00083                                                                         CMovePrimitive&amp; 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() &amp; otherPrimitive.getOcclusionMaskInternal())  == 0) &amp;&amp; 
00089                 ( (primitive.getOcclusionMaskInternal() &amp; 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 &amp;retriever, CCollisionSurfaceTemp&amp; surfaceTemp, 
00167                                                                                                                                   uint32 testTime, uint32 maxTestIteration, CMovePrimitive&amp; 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 &amp;retriever, CCollisionSurfaceTemp&amp; 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&amp; other, CCollisionDesc&amp; desc, <font class="keywordtype">double</font> timeMin, <font class="keywordtype">double</font> timeMax, 
00243                                                                                         <font class="keywordtype">double</font> &amp;firstContactTime, <font class="keywordtype">double</font> &amp;lastContactTime, CMovePrimitive&amp; primitive,
00244                                                                                    CMovePrimitive&amp; 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&lt;4; pt++)
00263         <font class="keywordflow">for</font> (seg=0; seg&lt;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&lt;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&gt;_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&lt;4; pt++)
00290         <font class="keywordflow">for</font> (seg=0; seg&lt;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&lt;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&gt;_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 &gt; halfTime)</font>
00326                 <font class="keywordflow">if</font> (timeMin &gt; _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&gt;desc.ContactTime)
00332                 {
00333                         <font class="comment">// Clamp time</font>
00334                         <font class="keywordflow">if</font> (desc.ContactTime&lt;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&amp; other, CCollisionDesc&amp; desc, <font class="keywordtype">double</font> timeMin, <font class="keywordtype">double</font> timeMax, 
00349                                                                                         <font class="keywordtype">double</font> &amp;firstContactTime, <font class="keywordtype">double</font> &amp;lastContactTime, CMovePrimitive&amp; primitive,
00350                                                                                    CMovePrimitive&amp; 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&lt;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&lt;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&gt;_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&lt;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&lt;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&gt;_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 &gt; halfTime)</font>
00432                 <font class="keywordflow">if</font> (timeMin &gt; _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&gt;desc.ContactTime)
00438                 {
00439                         <font class="comment">// Clamp time</font>
00440                         <font class="keywordflow">if</font> (desc.ContactTime&lt;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&amp; other, CCollisionDesc&amp; desc, uint numPoint, uint numSeg, 
00455                                                                                                 CMovePrimitive&amp; primitive, CMovePrimitive&amp; 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 &gt; 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 &gt;= 0 ) &amp;&amp; ( length &lt;= otherPrimitive.getLength(numSeg&amp;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 &lt;= segPosZ + otherPrimitive.getHeightInternal()) &amp;&amp; (ptPosZ + primitive.getHeightInternal() &gt;= 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>&amp; s0, <font class="keywordtype">double</font>&amp; s1)
00540 {
00541         <font class="keywordtype">double</font> d=b*b-4.f*a*c;
00542         <font class="keywordflow">if</font> (d&gt;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&lt;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&amp; other, CCollisionDesc&amp; desc, uint numPoint, 
00573                                                                                    <font class="keywordtype">double</font> &amp;firstContactTime, <font class="keywordtype">double</font> &amp;lastContactTime, CMovePrimitive&amp; primitive,
00574                                                                                    CMovePrimitive&amp; 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&lt;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 &lt;= cylPosZ + otherPrimitive.getHeightInternal()) &amp;&amp; (ptPosZ + primitive.getHeightInternal() &gt;= 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&amp; other, CCollisionDesc&amp; desc, uint numSeg, CMovePrimitive&amp; primitive,
00689                                                                                    CMovePrimitive&amp; 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 &lt; 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 &gt;= 0 ) &amp;&amp; ( length &lt;= primitive.getLength (numSeg&amp;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 &lt;= segPosZ + primitive.getHeightInternal() ) &amp;&amp; (cylPosZ + otherPrimitive.getHeightInternal() &gt;= 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&amp; other, CCollisionDesc&amp; desc, <font class="keywordtype">double</font> timeMin, <font class="keywordtype">double</font> timeMax, 
00780                                                                                         <font class="keywordtype">double</font> &amp;firstContactTime, <font class="keywordtype">double</font> &amp;lastContactTime, CMovePrimitive&amp; primitive,
00781                                                                                    CMovePrimitive&amp; 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&gt;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&lt;_timeMax)&amp;&amp;(_timeMin&lt;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 &lt;= cyl1PosZ + otherPrimitive.getHeightInternal() ) &amp;&amp; (cyl0PosZ + primitive.getHeightInternal() &gt;= 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 &amp;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&lt;4; i++)
00949                 {
00950                         <font class="comment">// Next index</font>
00951                         uint next=(i+1)&amp;3;
00952                         <font class="keywordtype">double</font> oneOver=oneOverLength[i&amp;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 &amp;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&amp;=0xff;
00979                 orient&gt;&gt;=6;
00980                 <a class="code" href="debug_8h.html#a6">nlassert</a> (orient&gt;=0);
00981                 <a class="code" href="debug_8h.html#a6">nlassert</a> (orient&lt;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&lt;4; i++)
00990                 {
00991                         <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.PointPosX[i]&lt;<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]&gt;<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]&lt;<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]&gt;<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>&gt;<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>&gt;<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&amp; 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 &amp;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&lt;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]-&gt;Primitive=primitive;
01071                         <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot]-&gt;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]-&gt;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&lt;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&lt;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&amp; 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 &amp;container)
01103 {
01104         <font class="comment">// Find a free place</font>
01105         uint slot;
01106         <font class="keywordflow">for</font> (slot=0; slot&lt;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]-&gt;Primitive=primitive;
01114                         <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[slot]-&gt;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]-&gt;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 &amp;container, uint8 worldImage)
01129 {
01130         <font class="comment">// Check</font>
01131         <a class="code" href="debug_8h.html#a6">nlassert</a> ((i&gt;=0)||(i&lt;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&lt;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]-&gt;PreviousX)
01155                                 <a class="code" href="debug_8h.html#a7">nlassertonce</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[i]-&gt;PreviousX-&gt;Primitive-&gt;getWorldImage(worldImage)-&gt;_BBXMin &lt;= <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]-&gt;NextX)
01157                                 <a class="code" href="debug_8h.html#a7">nlassertonce</a> (_BBXMin &lt;= _MoveElement[i]-&gt;NextX-&gt;Primitive-&gt;getWorldImage(worldImage)-&gt;_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&amp; second, <font class="keyword">const</font> CCollisionDesc&amp; desc, CGlobalRetriever* retriever,
01165                                                            CCollisionSurfaceTemp&amp; surfaceTemp, <font class="keywordtype">bool</font> collision, CMovePrimitive &amp;primitive, 
01166                                                            CMovePrimitive &amp;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 &amp;&amp; (primitive.isObstacle ()) &amp;&amp; (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, &amp;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&lt;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&gt;=0);
01238                 <a class="code" href="debug_8h.html#a6">nlassert</a> (deltaTime&lt;=1);
01239 
01240                 UGlobalPosition newPosition = retriever-&gt;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, &amp;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, &amp;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-&gt;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, &amp;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&amp;       surfaceDesc, <font class="keyword">const</font> UGlobalPosition&amp; globalPosition,
01351                                                            CGlobalRetriever&amp; retriever, <font class="keywordtype">double</font> ratio, <font class="keywordtype">double</font> dt, CMovePrimitive &amp;primitive, CMoveContainer &amp;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> (&amp;container, &amp;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&amp; pos, CMoveContainer&amp; container, CMovePrimitive &amp;primitive, uint8 worldImage)
01405 {
01406         <font class="comment">// Cast type</font>
01407         <a class="code" href="debug_8h.html#a6">nlassert</a> (dynamic_cast&lt;const CMoveContainer*&gt;(&amp;container));
01408         <font class="keyword">const</font> CMoveContainer *cont=(<font class="keyword">const</font> CMoveContainer*)&amp;container;
01409 
01410         <font class="comment">// Use the global retriever ?</font>
01411         <a class="code" href="debug_8h.html#a6">nlassert</a> (cont-&gt;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-&gt;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> (&amp;container, &amp;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>&amp; pos, CMoveContainer&amp; container, CMovePrimitive &amp;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&lt;const CMoveContainer*&gt;(&amp;container));
01433         <font class="keyword">const</font> CMoveContainer *cont=(<font class="keyword">const</font> CMoveContainer*)&amp;container;
01434 
01435         <font class="comment">// Get the retriever</font>
01436         CGlobalRetriever *retriever=cont-&gt;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-&gt;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> (&amp;container, &amp;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>&amp; speed, CMoveContainer&amp; container, CMovePrimitive &amp;primitive, uint8 worldImage)
01474 {
01475         <font class="comment">// New speed</font>
01476         <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a8">setSpeed</a> (speed, &amp;container, &amp;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> (&amp;container, &amp;primitive, worldImage);
01486 }
01487 
01488 <font class="comment">// ***************************************************************************</font>
01489 
01490 
01491 } <font class="comment">// NLPACS</font>
</pre></div>

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