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<hr><h1>primitive_world_image.h</h1><a href="primitive__world__image_8h.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">#ifndef NL_PRIMITIVE_WORLD_IMAGE_H</font>
00027 <font class="preprocessor"></font><font class="preprocessor">#define NL_PRIMITIVE_WORLD_IMAGE_H</font>
00028 <font class="preprocessor"></font>
00029 <font class="preprocessor">#include "<a class="code" href="types__nl_8h.html">nel/misc/types_nl.h</a>"</font>
00030
00031 <font class="preprocessor">#include "<a class="code" href="move__container_8h.html">pacs/move_container.h</a>"</font>
00032
00033
00034 <font class="keyword">namespace </font>NLPACS {
00035
00036
<a name="l00043"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html">00043</a> <font class="keyword">class </font>CPrimitiveWorldImage
00044 {
00045 <font class="keyword">public</font>:
00046
00047 <font class="comment">// Constructor</font>
00048 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a> ();
00049
00050 <font class="comment">// To call before destruction</font>
00051 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a1">deleteIt</a> (CMoveContainer &container, uint8 worldImage);
00052
00053 <font class="comment">// Copy</font>
00054 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a2">copy</a> (<font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& source);
00055
00061 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a3">setGlobalPosition</a> (<font class="keyword">const</font> UGlobalPosition& pos, CMoveContainer& container, CMovePrimitive &primitive, uint8 worldImage);
00062
00070 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a3">setGlobalPosition</a> (<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& pos, CMoveContainer& container, CMovePrimitive &primitive,
00071 uint8 worldImage, <font class="keywordtype">bool</font> keepZ = <font class="keyword">false</font>);
00072
<a name="l00078"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a5">00078</a> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a5">getFinalPosition</a> ()<font class="keyword"> const</font>
00079 <font class="keyword"> </font>{
00080 <font class="comment">// Get the position</font>
00081 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a0">getPos</a>();
00082 }
00083
<a name="l00089"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a6">00089</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a6">setOrientation</a> (<font class="keywordtype">double</font> rot, CMoveContainer *container, CMovePrimitive *primitive, uint8 worldImage)
00090 {
00091 <font class="comment">// New position</font>
00092 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.Orientation=rot;
00093
00094 <font class="comment">// Position has changed</font>
00095 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a29">dirtPos</a> (container, primitive, worldImage);
00096 }
00097
00103 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a7">move</a> (<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& speed, CMoveContainer& container, CMovePrimitive &primitive,
00104 uint8 worldImage);
00105
<a name="l00111"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a8">00111</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a8">setSpeed</a> (<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& speed, CMoveContainer *container, CMovePrimitive *primitive, uint8 worldImage)
00112 {
00113 <font class="comment">// New time</font>
00114 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>=speed;
00115
00116 <font class="comment">// Speed has changed</font>
00117 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a29">dirtPos</a> (container, primitive, worldImage);
00118 }
00119
<a name="l00125"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a9">00125</a> <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a9">getSpeed</a> ()<font class="keyword"> const</font>
00126 <font class="keyword"> </font>{
00127 <font class="comment">// New time</font>
00128 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>;
00129 }
00130
<a name="l00132"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a10">00132</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a10">isInModifiedListFlag</a> ()
00133 {
00134 <font class="keywordflow">return</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u2">InModifiedListFlag</a>) != 0;
00135 }
00136
<a name="l00138"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a11">00138</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a11">setInModifiedListFlag</a> (<font class="keywordtype">bool</font> itis)
00139 {
00140 <font class="keywordflow">if</font> (itis)
00141 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>|=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u2">InModifiedListFlag</a>;
00142 <font class="keywordflow">else</font>
00143 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&=~<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u2">InModifiedListFlag</a>;
00144 }
00145
00146 <font class="comment">// Link into modified list</font>
<a name="l00147"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a12">00147</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a12">linkInModifiedList</a> (CMovePrimitive* next)
00148 {
00149 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o16">_NextModified</a>=next;
00150 }
00151
<a name="l00153"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a13">00153</a> <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a13">isInWorldImageFlag</a> ()
00154 {
00155 <font class="keywordflow">return</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u3">InWorldImageFlag</a>) != 0;
00156 }
00157
<a name="l00159"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a14">00159</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a14">setInWorldImageFlag</a> (<font class="keywordtype">bool</font> itis)
00160 {
00161 <font class="keywordflow">if</font> (itis)
00162 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>|=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u3">InWorldImageFlag</a>;
00163 <font class="keywordflow">else</font>
00164 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&=~<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u3">InWorldImageFlag</a>;
00165 }
00166
<a name="l00168"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a15">00168</a> CMovePrimitive *<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a15">getNextModified</a> ()<font class="keyword"> const</font>
00169 <font class="keyword"> </font>{
00170 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o16">_NextModified</a>;
00171 }
00172
<a name="l00176"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a16">00176</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a16">getBBXMin</a> ()<font class="keyword"> const</font>
00177 <font class="keyword"> </font>{
00178 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>;
00179 }
00180
<a name="l00184"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a17">00184</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a17">getBBYMin</a> ()<font class="keyword"> const</font>
00185 <font class="keyword"> </font>{
00186 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>;
00187 }
00188
<a name="l00192"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a18">00192</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a18">getBBXMax</a> ()<font class="keyword"> const</font>
00193 <font class="keyword"> </font>{
00194 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>;
00195 }
00196
<a name="l00200"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a19">00200</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a19">getBBYMax</a> ()<font class="keyword"> const</font>
00201 <font class="keyword"> </font>{
00202 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>;
00203 }
00204
<a name="l00208"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a20">00208</a> <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a20">getDeltaPosition</a> ()<font class="keyword"> const</font>
00209 <font class="keyword"> </font>{
00210 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o4">_DeltaPosition</a>;
00211 }
00212
<a name="l00214"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a21">00214</a> CMoveElement *<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a21">getMoveElement</a> (uint i)
00215 {
00216 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[i];
00217 }
00218
00220 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a22">removeMoveElement</a> (uint i, CMoveContainer &container, uint8 worldImage);
00221
00223 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a23">addMoveElement</a> (CMoveCell& cell, uint16 <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, uint16 <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, <font class="keywordtype">double</font> centerX, <font class="keywordtype">double</font> centerY, CMovePrimitive *primitive,
00224 CMoveContainer &container, uint8 worldImage);
00225
00227 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a24">CPrimitiveWorldImage::addMoveElementendOfList</a> (CMoveCell& cell, uint16 <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>, uint16 <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>, CMovePrimitive *primitive,
00228 CMoveContainer &container);
00229
<a name="l00231"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a25">00231</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a25">update</a> (<font class="keywordtype">double</font> beginTime, <font class="keywordtype">double</font> endTime, CMovePrimitive &primitive)
00232 {
00233 <font class="comment">// Pos dirt ?</font>
00234 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u0">DirtPosFlag</a>)
00235 {
00236 <font class="comment">// Compute precalculated data</font>
00237 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a32">precalcPos</a> (primitive);
00238
00239 <font class="comment">// Clean</font>
00240 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&=~<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u0">DirtPosFlag</a>;
00241 }
00242
00243 <font class="comment">// Bounding box dirt ?</font>
00244 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u1">DirtBBFlag</a>)
00245 {
00246 <font class="comment">// Compute precalculated data</font>
00247 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a34">precalcBB</a> (beginTime, endTime, primitive);
00248
00249 <font class="comment">// Clean</font>
00250 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>&=~<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u1">DirtBBFlag</a>;
00251 }
00252 }
00253
00255 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a26">checkSortedList</a> (uint8 worldImage);
00256
00257 <font class="comment">// Return the global position of the primitive</font>
<a name="l00258"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a27">00258</a> <font class="keyword">const</font> UGlobalPosition& <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a27">getGlobalPosition</a>()
00259 {
00260 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>.<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a2">getGlobalPos</a>();
00261 }
00262
00263 <font class="comment">// Return the orientation</font>
<a name="l00264"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a28">00264</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a28">getOrientation</a> ()<font class="keyword"> const</font>
00265 <font class="keyword"> </font>{
00266 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>.Orientation;
00267 }
00268
00269 <font class="comment">// Dirt the position flag. Position has changed.</font>
<a name="l00270"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a29">00270</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a29">dirtPos</a> (CMoveContainer *container, CMovePrimitive *primitive, uint8 worldImage)
00271 {
00272 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>|=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u0">DirtPosFlag</a>;
00273 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a30">dirtBB</a> (container, primitive, worldImage);
00274 }
00275
00276 <font class="comment">// Dirt the bounding box flag.</font>
<a name="l00277"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a30">00277</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a30">dirtBB</a> (CMoveContainer *container, CMovePrimitive *primitive, uint8 worldImage)
00278 {
00279 <font class="comment">// Warn container that BB has changed</font>
00280 container->changed (primitive, worldImage);
00281
00282 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>|=<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u1">DirtBBFlag</a>;
00283 }
00284
00285 <font class="comment">// Return the init time</font>
<a name="l00286"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a31">00286</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a31">getInitTime</a>()<font class="keyword"> const</font>
00287 <font class="keyword"> </font>{
00288 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">_InitTime</a>;
00289 }
00290
00291 <font class="comment">// Compute precalculated data for the position</font>
00292 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a32">precalcPos</a> (CMovePrimitive &primitive);
00293
00294 <font class="comment">// Compute precalculated data for the speed</font>
00295 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a33">precalcSpeed</a> ();
00296
00297 <font class="comment">// Compute precalculated bounding box</font>
00298 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a34">precalcBB</a> (<font class="keywordtype">double</font> beginTime, <font class="keywordtype">double</font> endTime, CMovePrimitive &primitive);
00299
00300 <font class="comment">// *** Some methods to eval collisions</font>
00301 <font class="comment">/* * NOTES: BB for bounding box</font>
00302 <font class="comment"> OB for oriented Box</font>
00303 <font class="comment"> OC for oriented cylinder</font>
00304 <font class="comment"> P for box point</font>
00305 <font class="comment"> S for box segment</font>
00306 <font class="comment"> */</font>
00307
00319 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a35">evalCollision</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& other, <font class="keyword">class</font> CCollisionDesc& desc, <font class="keywordtype">double</font> timeMin,
00320 <font class="keywordtype">double</font> timeMax, uint32 testTime, uint32 maxTestIteration,
00321 <font class="keywordtype">double</font> &firstContactTime, <font class="keywordtype">double</font> &lastContactTime,
00322 CMovePrimitive& primitive, CMovePrimitive& otherPrimitive);
00323
00324 <font class="comment">// Box over box</font>
00325 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a36">evalCollisionOBoverOB</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& other, CCollisionDesc& desc, <font class="keywordtype">double</font> timeMin,
00326 <font class="keywordtype">double</font> timeMax, <font class="keywordtype">double</font> &firstContactTime, <font class="keywordtype">double</font> &lastContactTime,
00327 CMovePrimitive& primitive, CMovePrimitive& otherPrimitive);
00328
00329 <font class="comment">// Box over cylinder</font>
00330 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a37">evalCollisionOBoverOC</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& other, CCollisionDesc& desc, <font class="keywordtype">double</font> timeMin,
00331 <font class="keywordtype">double</font> timeMax, <font class="keywordtype">double</font> &firstContactTime, <font class="keywordtype">double</font> &lastContactTime,
00332 CMovePrimitive& primitive, CMovePrimitive& otherPrimitive);
00333
00334 <font class="comment">// Cylinder over cylinder</font>
00335 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a38">evalCollisionOCoverOC</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& other, CCollisionDesc& desc, <font class="keywordtype">double</font> timeMin,
00336 <font class="keywordtype">double</font> timeMax, <font class="keywordtype">double</font> &firstContactTime, <font class="keywordtype">double</font> &lastContactTime,
00337 CMovePrimitive& primitive, CMovePrimitive& otherPrimitive);
00338
00339 <font class="comment">// *** Subprimitive over subprimitive</font>
00340
00341 <font class="comment">// Point over segment in OB/OB test</font>
00342 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a39">evalCollisionPoverS</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& other, CCollisionDesc& desc, uint numPoint, uint numSeg,
00343 CMovePrimitive& primitive, CMovePrimitive& otherPrimitive);
00344
00345 <font class="comment">// Point over cylinder</font>
00346 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a40">evalCollisionPoverOC</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& other, CCollisionDesc& desc, uint numPoint,
00347 <font class="keywordtype">double</font> &firstContactTime, <font class="keywordtype">double</font> &lastContactTime, CMovePrimitive& primitive,
00348 CMovePrimitive& otherPrimitive);
00349
00350 <font class="comment">// Segment over cylinder</font>
00351 <font class="keywordtype">bool</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a41">evalCollisionSoverOC</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& other, CCollisionDesc& desc, uint numPoint,
00352 CMovePrimitive& primitive, CMovePrimitive& otherPrimitive);
00353
00363 <font class="keyword">const</font> <a class="code" href="namespaceNLPACS.html#a0">TCollisionSurfaceDescVector</a> *<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a35">evalCollision</a> (CGlobalRetriever &retriever, CCollisionSurfaceTemp& surfaceTemp,
00364 uint32 testTime, uint32 maxTestIteration, CMovePrimitive& primitive);
00365
00366 <font class="comment">// Make a move with globalRetriever. Must be call after a free collision evalCollision call.</font>
00367 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a43">doMove</a> (CGlobalRetriever &retriever, CCollisionSurfaceTemp& surfaceTemp, <font class="keywordtype">double</font> originalMax, <font class="keywordtype">double</font> finalMax, <font class="keywordtype">bool</font> keepZ = <font class="keyword">false</font>);
00368
00369 <font class="comment">// Make a move wihtout globalRetriever.</font>
00370 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a43">doMove</a> (<font class="keywordtype">double</font> timeMax);
00371
00372 <font class="comment">// Reaction between two primitives. Return true if one object has been modified.</font>
00373 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a45">reaction</a> (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a0">CPrimitiveWorldImage</a>& second, <font class="keyword">const</font> CCollisionDesc& desc, CGlobalRetriever* retriver,
00374 CCollisionSurfaceTemp& surfaceTemp, <font class="keywordtype">bool</font> collision, CMovePrimitive &primitive,
00375 CMovePrimitive &otherPrimitive, CMoveContainer *container, uint8 worldImage,
00376 uint8 secondWorldImage, <font class="keywordtype">bool</font> secondConst);
00377
00378 <font class="comment">// Reaction with a static collision. Return true if one object has been modified.</font>
00379 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#a45">reaction</a> ( <font class="keyword">const</font> CCollisionSurfaceDesc& surfaceDesc, <font class="keyword">const</font> UGlobalPosition& globalPosition,
00380 CGlobalRetriever& retriever, <font class="keywordtype">double</font> ratio, <font class="keywordtype">double</font> dt, CMovePrimitive &primitive, CMoveContainer &container,
00381 uint8 worldImage);
00382
00383 <font class="keyword">private</font>:
00384 <font class="comment">// Some flags</font>
<a name="l00385"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5">00385</a> <font class="keyword">enum</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5">TDynamicFlags</a>
00386 {
00387 <font class="comment">// The dirt flag. Precalculated data for the position must be recomputed.</font>
00388 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u0">DirtPosFlag</a> =0x0001,
00389
00390 <font class="comment">// The dirt bounding box. Precalculated data for the bounding box must be recomputed.</font>
00391 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u1">DirtBBFlag</a> =0x0002,
00392
00393 <font class="comment">// In modified list.</font>
00394 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u2">InModifiedListFlag</a> =0x0004,
00395
00396 <font class="comment">// Inserted in the world image.</font>
00397 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u3">InWorldImageFlag</a> =0x0008,
00398
00399 <font class="comment">// Force the size to uint16.</font>
00400 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#u5u4">ForceSize</a> =0xffff
00401 };
00402
00403 <font class="comment">// Flags</font>
<a name="l00404"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">00404</a> uint16 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o0">_DynamicFlags</a>;
00405
00406 <font class="comment">// This position is the central bottom position for the box or for the cylinder</font>
<a name="l00407"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html">00407</a> <font class="keyword">class </font>CPosition
00408 {
00409 <font class="keyword">private</font>:
00410 <font class="comment">// 3d position</font>
<a name="l00411"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o0">00411</a> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o0">_3dPosition</a>;
00412
00413 <font class="comment">// Global position</font>
<a name="l00414"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o1">00414</a> UGlobalPosition <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o1">_GlobalPosition</a>;
00415 <font class="keyword">public</font>:
00416 <font class="comment">// Return the 3d position</font>
<a name="l00417"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a0">00417</a> <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a0">getPos</a> ()<font class="keyword"> const</font>
00418 <font class="keyword"> </font>{
00419 <font class="keywordflow">return</font> _3dPosition;
00420 }
00421
00422 <font class="comment">// Set the 3d position</font>
<a name="l00423"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a1">00423</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a1">setPos</a> (<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a>& newPos)
00424 {
00425 _3dPosition=newPos;
00426 }
00427
00428 <font class="comment">// Return the global position</font>
<a name="l00429"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a2">00429</a> <font class="keyword">const</font> UGlobalPosition& <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a2">getGlobalPos</a> ()<font class="keyword"> const</font>
00430 <font class="keyword"> </font>{
00431 <font class="keywordflow">return</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o1">_GlobalPosition</a>;
00432 }
00433
00434 <font class="comment">// Set the global position</font>
<a name="l00435"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a3">00435</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a3">setGlobalPos</a> (<font class="keyword">const</font> UGlobalPosition& globalPosition,
00436 CGlobalRetriever& globalRetriver)
00437 {
00438 <font class="comment">// Get position with global position</font>
00439 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o1">_GlobalPosition</a>=globalPosition;
00440 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o1">_GlobalPosition</a>.LocalPosition.Estimation.z = globalRetriver.getMeanHeight(globalPosition);
00441 _3dPosition=globalRetriver.getDoubleGlobalPosition (<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o1">_GlobalPosition</a>);
00442 <font class="comment">// _3dPosition.z=(double)globalRetriver.getMeanHeight(globalPosition); </font>
00443 }
00444
<a name="l00445"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a4">00445</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#a4">setGlobalPosKeepZ</a>(<font class="keyword">const</font> UGlobalPosition& globalPosition,
00446 CGlobalRetriever& globalRetriver)
00447 {
00448 <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage_1_1CPosition.html#o1">_GlobalPosition</a>.setKeepZ(globalPosition);
00449 <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> dPos = globalRetriver.getDoubleGlobalPosition (globalPosition);
00450 _3dPosition.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a> = dPos.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>;
00451 _3dPosition.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a> = dPos.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>;
00452 }
00453
00454 };
00455
00456 <font class="comment">// Global position of the primitive in the world image.</font>
<a name="l00457"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">00457</a> CPosition <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o1">_Position</a>;
00458
00459 <font class="comment">// Time for valid getPos () position. _Position.getPos () == _3dInitPosition + _Speed * _InitTime;</font>
<a name="l00460"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">00460</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o2">_InitTime</a>;
00461
00462 <font class="comment">// 3d position at t=0</font>
<a name="l00463"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">00463</a> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o3">_3dInitPosition</a>;
00464
00465 <font class="comment">// Delta position is : _Speed*Deltatime</font>
<a name="l00466"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o4">00466</a> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o4">_DeltaPosition</a>;
00467
00468 <font class="comment">// Current speed</font>
<a name="l00469"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">00469</a> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o5">_Speed</a>;
00470
00471 <font class="comment">// Movable bounding box</font>
<a name="l00472"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">00472</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o6">_BBXMin</a>;
<a name="l00473"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">00473</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o7">_BBYMin</a>;
<a name="l00474"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">00474</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o8">_BBXMax</a>;
<a name="l00475"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">00475</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o9">_BBYMax</a>;
00476
00477 <font class="comment">// Union for data space shared by primitive type (cylinder or box)</font>
00478 <font class="keyword">union </font>
00479 <font class="keyword"> </font>{
00480 <font class="comment">// Data for Boxes</font>
00481 <font class="keyword">struct</font>
00482 <font class="keyword"> </font>{
00483 <font class="comment">// 2d position of the 4 points of the box at initial time.</font>
<a name="l00484"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o10">00484</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o10">PointPosX</a>[4];
<a name="l00485"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o11">00485</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o11">PointPosY</a>[4];
00486
00487 <font class="comment">// The normalized direction vector of the 4 edges of the box.</font>
<a name="l00488"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o12">00488</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o12">EdgeDirectionX</a>[4];
<a name="l00489"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o13">00489</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o13">EdgeDirectionY</a>[4];
00490
00491 <font class="comment">// The box orientation</font>
<a name="l00492"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o14">00492</a> <font class="keywordtype">double</font> <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o14">Orientation</a>;
00493 } <a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o15">_OBData</a>;
00494 };
00495
00496 <font class="comment">// Sorted list of modified primitives. This pointer is managed by CMoveContainer.</font>
<a name="l00497"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o16">00497</a> CMovePrimitive *<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o16">_NextModified</a>;
00498
00499 <font class="comment">// Pointer into the 4 possibles sorted lists of movable primitives. Can be NULL if not in the list</font>
<a name="l00500"></a><a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">00500</a> CMoveElement *<a class="code" href="classNLPACS_1_1CPrimitiveWorldImage.html#o17">_MoveElement</a>[4];
00501 };
00502
00503
00504 } <font class="comment">// NLPACS</font>
00505
00506
00507 <font class="preprocessor">#endif // NL_PRIMITIVE_WORLD_IMAGE_H</font>
00508 <font class="preprocessor"></font>
00509 <font class="comment">/* End of primitive_world_image.h */</font>
</pre></div>
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