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<hr><h1>retriever_instance.cpp</h1><a href="retriever__instance_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="retriever__instance_8h.html">pacs/retriever_instance.h</a>"</font>
00029 <font class="preprocessor">#include "<a class="code" href="global__retriever_8h.html">pacs/global_retriever.h</a>"</font>
00030
00031 <font class="keyword">using</font> <font class="keyword">namespace </font>std;
00032 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC;
00033
00034
00035
<a name="l00036"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a0">00036</a> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a0">NLPACS::CRetrieverInstance::CRetrieverInstance</a>()
00037 {
00038 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a1">reset</a>();
00039 }
00040
00041
<a name="l00042"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a3">00042</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a3">NLPACS::CRetrieverInstance::resetLinks</a>()
00043 {
00044 uint i;
00045 <font class="comment">// WARNING !!</font>
00046 <font class="comment">// this is a HARD reset !</font>
00047 <font class="comment">// only the instance i reset, no care about neighbors !!</font>
00048 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.size(); ++i)
00049 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>[i] = -1;
00050 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>.clear();
00051
00052 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.removeLinks();
00053 }
00054
<a name="l00055"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a2">00055</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a3">NLPACS::CRetrieverInstance::resetLinks</a>(uint32 <a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)
00056 {
00057 vector<sint32>::iterator rit;
00058 <font class="keywordflow">for</font> (rit=<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.begin(); rit!=<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.end(); )
00059 <font class="keywordflow">if</font> (*rit == (sint32)<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)
00060 rit = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.erase(rit);
00061 <font class="keywordflow">else</font>
00062 ++rit;
00063
00064 uint i;
00065 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>.size(); ++i)
00066 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].Instance == (uint16)<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>)
00067 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].reset();
00068
00069 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.removeLinks(<a class="code" href="driver__opengl__extension__def_8h.html#a356">id</a>);
00070 }
00071
<a name="l00072"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a1">00072</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a1">NLPACS::CRetrieverInstance::reset</a>()
00073 {
00074 <font class="comment">// WARNING !!</font>
00075 <font class="comment">// this is a HARD reset !</font>
00076 <font class="comment">// only the instance i reset, no care about neighbors !!</font>
00077 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>.clear();
00078 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a> = -1;
00079 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a> = -1;
00080 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a> = 0;
00081 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a> = CVector::Null;
00082 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> = CLocalRetriever::Landscape;
00083 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>.clear();
00084 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.clear();
00085
00086 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a3">resetLinks</a>();
00087 }
00088
<a name="l00089"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a16">00089</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a16">NLPACS::CRetrieverInstance::init</a>(<font class="keyword">const</font> CLocalRetriever &retriever)
00090 {
00091 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>.resize(retriever.getSurfaces().size());
00092 uint i;
00093
00094 <font class="comment">// Resets _NodesInformation for later pathfinding graph annotation.</font>
00095 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>.size(); ++i)
00096 {
00097 CVector pos = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a29">getGlobalPosition</a>(retriever.getSurfaces()[i].getCenter());
00098 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>[i].Position = CVector2f(pos.x, pos.y);
00099 }
00100
00101 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> = retriever.getType();
00102 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>.resize(retriever.getBorderChains().size());
00103 }
00104
<a name="l00105"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a19">00105</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a19">NLPACS::CRetrieverInstance::make</a>(sint32 instanceId, sint32 retrieverId, <font class="keyword">const</font> CLocalRetriever &retriever,
00106 uint8 orientation, <font class="keyword">const</font> CVector &origin)
00107 {
00108 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a> != -1 || <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a> != -1)
00109 {
00110 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in call to NLPACS::CRetrieverInstance::make"</font>);
00111 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"_InstanceId=%d _RetrieverId=%d _Orientation=%d"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>);
00112 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"instanceId=%d retrieverId=%d orientation=%d"</font>, instanceId, retrieverId, orientation);
00113 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Retriever instance %d has already been set"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>);
00114 }
00115
00116 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a> = instanceId;
00117 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a> = retrieverId;
00118 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a> = (orientation%4);
00119 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a> = origin;
00120
00121 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a> = retriever.getBBox();
00122 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_0">setCenter</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_4">getCenter</a>()+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>);
00123
00124 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a> == 1 || <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a> == 3)
00125 {
00126 CVector hs = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z264_5">getHalfSize</a>();
00127 std::swap(hs.x, hs.y);
00128 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a>.<a class="code" href="classNLMISC_1_1CAABBox.html#z263_1">setHalfSize</a>(hs);
00129 }
00130
00131 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a16">init</a>(retriever);
00132 }
00133
00134 <font class="comment">//</font>
<a name="l00135"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a17">00135</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a17">NLPACS::CRetrieverInstance::initEdgeQuad</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html">NLPACS::CGlobalRetriever</a> &gr)
00136 {
00137 <font class="keyword">const</font> CLocalRetriever &lr = gr.<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>);
00138
00139 <font class="keywordflow">if</font> (lr.getType() != CLocalRetriever::Interior)
00140 {
00141 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Attempt to init the edgequad of instance %d whereas local retriever %d is not interior"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>);
00142 }
00143
00144 <font class="comment">// build the edge quad</font>
00145 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.build(lr.getExteriorMesh(), gr, gr.<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#b0">getInternalCST</a>(),<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>);
00146 }
00147
<a name="l00148"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a18">00148</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a18">NLPACS::CRetrieverInstance::linkEdgeQuad</a>(<a class="code" href="classNLPACS_1_1CGlobalRetriever.html">NLPACS::CGlobalRetriever</a> &gr)
00149 {
00150 <font class="keyword">const</font> CLocalRetriever &lr = gr.<a class="code" href="classNLPACS_1_1CGlobalRetriever.html#z935_5">getRetriever</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>);
00151 <font class="keyword">const</font> CExteriorMesh &em = lr.getExteriorMesh();
00152
00153 <font class="keyword">const</font> vector<CExteriorEdgeEntry> &ee = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.getEdgeEntries();
00154
00155 <font class="comment">// here we fill (partially) the _BorderChainLinks table</font>
00156 uint i;
00157 <font class="keywordflow">for</font> (i=0; i<ee.size(); ++i)
00158 {
00159 <font class="keyword">const</font> CExteriorMesh::CEdge &edge = em.getEdge(ee[i].EdgeId);
00160 <font class="keywordflow">if</font> (edge.Link != -1)
00161 {
00162 <font class="keyword">const</font> CExteriorMesh::CLink &<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a> = em.getLink(edge.Link);
00163
00164 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a>.SurfaceId != 0xFFFF && <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a>.ChainId != 0xFFFF && <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a>.BorderChainId != 0xFFFF)
00165 {
00166 CRetrieverInstance::CLink &borderLink = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a>.BorderChainId];
00167 borderLink.ChainId = 0xFFFF; <font class="comment">// no opposite chain</font>
00168 borderLink.BorderChainId = 0xFFFF; <font class="comment">// idem</font>
00169 <font class="keywordflow">if</font> ((borderLink.Instance == 0xFFFF && borderLink.SurfaceId == 0xFFFF) ||
00170 (borderLink.Instance == (uint16)(ee[i].Exterior.RetrieverInstanceId) &&
00171 borderLink.SurfaceId == (uint16)(ee[i].Exterior.SurfaceId) ))
00172 {
00173 borderLink.Instance = (uint16)(ee[i].Exterior.RetrieverInstanceId);
00174 borderLink.SurfaceId = (uint16)(ee[i].Exterior.SurfaceId);
00175 }
00176 <font class="keywordflow">else</font>
00177 {
00178 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"Instance %d, borderLink %d: link already set to inst=%d, surf=%d, try to set to inst=%d, surf=%d"</font>,
00179 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">link</a>.BorderChainId, borderLink.Instance, borderLink.SurfaceId,
00180 (uint16)(ee[i].Exterior.RetrieverInstanceId), (uint16)(ee[i].Exterior.SurfaceId));
00181 }
00182 }
00183 }
00184 }
00185 }
00186
00187 <font class="comment">/* Links the current retriever instance to another instance</font>
00188 <font class="comment"> * on the given edge.</font>
00189 <font class="comment"> */</font>
00190 <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a20">NLPACS::CRetrieverInstance::link</a>(CRetrieverInstance &neighbor,
00191 <font class="keyword">const</font> vector<CLocalRetriever> &retrievers)
00192 {
00193 uint i, j;
00194 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.size(); ++i)
00195 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>[i] == neighbor._InstanceId)
00196 <font class="keywordflow">return</font>;
00197
00198 <font class="keyword">const</font> CLocalRetriever &retriever = retrievers[<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>];
00199 <font class="keyword">const</font> CLocalRetriever &nRetriever = retrievers[neighbor._RetrieverId];
00200
00201 <font class="keyword">const</font> vector<CChain> &chains = retriever.getChains(),
00202 &nChains = nRetriever.getChains();
00203 <font class="keyword">const</font> vector<uint16> &borderChains = retriever.getBorderChains(),
00204 &nBorderChains = nRetriever.getBorderChains();
00205
00206 vector< pair<CVector,CVector> > chainTips,
00207 nChainTips;
00208
00209 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>.resize(borderChains.size());
00210 neighbor._BorderChainLinks.resize(nBorderChains.size());
00211
00212 <font class="keywordflow">for</font> (i=0; i<borderChains.size(); ++i)
00213 chainTips.push_back(make_pair(retriever.getTip(chains[borderChains[i]].getStartTip()).Point,
00214 retriever.getTip(chains[borderChains[i]].getStopTip()).Point));
00215
00217
00218 CVector translation = neighbor._Origin - <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>;
00219
00220 <font class="keywordflow">for</font> (i=0; i<nBorderChains.size(); ++i)
00221 nChainTips.push_back(make_pair(nRetriever.getTip(nChains[nBorderChains[i]].getStartTip()).Point+translation,
00222 nRetriever.getTip(nChains[nBorderChains[i]].getStopTip()).Point+translation));
00223
00224 <font class="keywordflow">for</font> (i=0; i<borderChains.size(); ++i)
00225 {
00226 <font class="comment">// if the chain is already linked, just step</font>
00227 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].Instance != 0xFFFF || <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].BorderChainId != 0xFFFF ||
00228 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].ChainId != 0xFFFF || <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].SurfaceId != 0xFFFF)
00229 <font class="keywordflow">continue</font>;
00230
00231 <font class="keywordtype">float</font> bestDist = 1.0f;
00232 sint best = -1;
00233
00234 <font class="keywordflow">for</font> (j=0; j<nBorderChains.size(); ++j)
00235 {
00236 <font class="keywordflow">if</font> (neighbor._BorderChainLinks[j].Instance != 0xFFFF || neighbor._BorderChainLinks[j].BorderChainId != 0xFFFF ||
00237 neighbor._BorderChainLinks[j].ChainId != 0xFFFF || neighbor._BorderChainLinks[j].SurfaceId != 0xFFFF)
00238 <font class="keywordflow">continue</font>;
00239
00240 <font class="keywordtype">float</font> d = (chainTips[i].first-nChainTips[j].second).<a class="code" href="classNLMISC_1_1CVector.html#z331_2">norm</a>()+(chainTips[i].second-nChainTips[j].first).norm();
00241 <font class="keywordflow">if</font> (d < bestDist)
00242 {
00243 bestDist = d;
00244 best = j;
00245 }
00246 }
00247
00248 <font class="comment">// if no best match, just don't link</font>
00249 <font class="keywordflow">if</font> (bestDist > 1.0e-1f || best == -1)
00250 <font class="keywordflow">continue</font>;
00251
00252 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].Instance = (uint16)neighbor._InstanceId;
00253 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].BorderChainId = (uint16)best;
00254 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].ChainId = nBorderChains[<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].BorderChainId];
00255 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].SurfaceId = (uint16)nChains[<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>[i].ChainId].getLeft();
00256
00257 neighbor._BorderChainLinks[best].Instance = (uint16)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>;
00258 neighbor._BorderChainLinks[best].BorderChainId = (uint16)i;
00259 neighbor._BorderChainLinks[best].ChainId = borderChains[neighbor._BorderChainLinks[best].BorderChainId];
00260 neighbor._BorderChainLinks[best].SurfaceId = (uint16)chains[neighbor._BorderChainLinks[best].ChainId].getLeft();
00261 }
00262
00263 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.push_back(neighbor._InstanceId);
00264 neighbor._Neighbors.push_back(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>);
00265 }
00266
00267
<a name="l00268"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a21">00268</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a21">NLPACS::CRetrieverInstance::unlink</a>(vector<CRetrieverInstance> &instances)
00269 {
00270 uint i;
00271
00272 <font class="keywordflow">for</font> (i=0; i<<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>.size(); ++i)
00273 instances[<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>[i]].resetLinks(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>);
00274
00275 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a3">resetLinks</a>();
00276 }
00277
00278
00279
00280
<a name="l00281"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a22">00281</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a22">NLPACS::CRetrieverInstance::retrievePosition</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVector.html">NLMISC::CVector</a> &estimated, <font class="keyword">const</font> CLocalRetriever &retriever, CCollisionSurfaceTemp &cst) <font class="keyword">const</font>
00282 <font class="comment">//NLPACS::CLocalRetriever::CLocalPosition NLPACS::CRetrieverInstance::retrievePosition(const NLMISC::CVector &estimated, const CLocalRetriever &retriever, CCollisionSurfaceTemp &cst) const</font>
00283 {
00284 <font class="comment">/*</font>
00285 <font class="comment"> CVector localEstimated;</font>
00286 <font class="comment"> CLocalRetriever::CLocalPosition retrieved;</font>
00287 <font class="comment"></font>
00288 <font class="comment"> // get local coordinates</font>
00289 <font class="comment"> localEstimated = getLocalPosition(estimated);</font>
00290 <font class="comment"> // Yoyo: must snap vector.</font>
00291 <font class="comment"> CRetrieverInstance::snapVector(localEstimated);</font>
00292 <font class="comment"></font>
00293 <font class="comment"> // fills _RetrieveTable by retrievingPosition.</font>
00294 <font class="comment"> retriever.retrievePosition(localEstimated, cst);</font>
00295 <font class="comment"></font>
00296 <font class="comment"> uint i, surf;</font>
00297 <font class="comment"> sint bestSurf = -1;</font>
00298 <font class="comment"> sint lastSurf = -1;</font>
00299 <font class="comment"> float bestDistance = 1.0e10f;</font>
00300 <font class="comment"> float bestHeight;</font>
00301 <font class="comment"> bool lfound;</font>
00302 <font class="comment"></font>
00303 <font class="comment"> // for each surface in the retriever</font>
00304 <font class="comment"> for (i=0; i<cst.PossibleSurfaces.size(); ++i)</font>
00305 <font class="comment"> {</font>
00306 <font class="comment"> surf = cst.PossibleSurfaces[i];</font>
00307 <font class="comment"> cst.SurfaceLUT[surf].first = false;</font>
00308 <font class="comment"> // if the surface contains the estimated position.</font>
00309 <font class="comment"> if (cst.SurfaceLUT[surf].second != 0)</font>
00310 <font class="comment"> {</font>
00311 <font class="comment"> // at least remembers the last seen surface...</font>
00312 <font class="comment"> cst.SurfaceLUT[surf].second = 0;</font>
00313 <font class="comment"> float meanHeight;</font>
00314 <font class="comment"> const CQuadLeaf *leaf;</font>
00315 <font class="comment"> ULocalPosition lp;</font>
00316 <font class="comment"> lfound = false;</font>
00317 <font class="comment"></font>
00318 <font class="comment"> switch (_Type)</font>
00319 <font class="comment"> {</font>
00320 <font class="comment"> case CLocalRetriever::Landscape:</font>
00321 <font class="comment"> // for landscape</font>
00322 <font class="comment"> // search in the surface's quad tree for the actual height</font>
00323 <font class="comment"> leaf = retriever.getSurfaces()[surf].getQuadTree().getLeaf(localEstimated);</font>
00324 <font class="comment"> // if there is no acceptable leaf, just give up</font>
00325 <font class="comment"> if (leaf == NULL)</font>
00326 <font class="comment"> continue;</font>
00327 <font class="comment"> meanHeight = leaf->getMaxHeight();</font>
00328 <font class="comment"> lfound = true;</font>
00329 <font class="comment"> break;</font>
00330 <font class="comment"> case CLocalRetriever::Interior:</font>
00331 <font class="comment"> // for interior</font>
00332 <font class="comment"> // get the exact position</font>
00333 <font class="comment"> lp.Surface = surf;</font>
00334 <font class="comment"> lp.Estimation = localEstimated;</font>
00335 <font class="comment"> meanHeight = localEstimated.z;</font>
00336 <font class="comment"> retriever.snapToInteriorGround(lp, lfound);</font>
00337 <font class="comment"> if (lfound)</font>
00338 <font class="comment"> meanHeight = lp.Estimation.z;</font>
00339 <font class="comment"> break;</font>
00340 <font class="comment"> default:</font>
00341 <font class="comment"> // hu?</font>
00342 <font class="comment"> continue;</font>
00343 <font class="comment"> }</font>
00344 <font class="comment"></font>
00345 <font class="comment"> // if it is closer to the estimation than the previous remembered...</font>
00346 <font class="comment"> float distance = (float)fabs(localEstimated.z-meanHeight);</font>
00347 <font class="comment"> if (distance < bestDistance && lfound)</font>
00348 <font class="comment"> {</font>
00349 <font class="comment"> bestDistance = distance;</font>
00350 <font class="comment"> bestHeight = meanHeight;</font>
00351 <font class="comment"> bestSurf = surf;</font>
00352 <font class="comment"> }</font>
00353 <font class="comment"> }</font>
00354 <font class="comment"> }</font>
00355 <font class="comment"></font>
00356 <font class="comment"> if (bestSurf != -1)</font>
00357 <font class="comment"> {</font>
00358 <font class="comment"> // if there is a best surface, returns it</font>
00359 <font class="comment"> retrieved.Surface = bestSurf;</font>
00360 <font class="comment"> retrieved.Estimation = CVector(localEstimated.x, localEstimated.y, bestHeight);</font>
00361 <font class="comment"> }</font>
00362 <font class="comment"> else</font>
00363 <font class="comment"> {</font>
00364 <font class="comment"> // else return the last remembered...</font>
00365 <font class="comment"> retrieved.Surface = lastSurf;</font>
00366 <font class="comment"> retrieved.Estimation = localEstimated;</font>
00367 <font class="comment"> }</font>
00368 <font class="comment"></font>
00369 <font class="comment"> return retrieved;</font>
00370 <font class="comment">*/</font>
00371 retrievePosition(CVectorD(estimated), retriever, cst);
00372 }
00373
<a name="l00374"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a23">00374</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a22">NLPACS::CRetrieverInstance::retrievePosition</a>(<font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CVectorD.html">NLMISC::CVectorD</a> &estimated, <font class="keyword">const</font> CLocalRetriever &retriever, CCollisionSurfaceTemp &cst)<font class="keyword"> const</font>
00375 <font class="keyword"></font>{
00376 CVector localEstimated;
00377
00378 <font class="comment">// nldebug("PACS: retrievePosition in instance %d (retriever %d)", _InstanceId, _RetrieverId);</font>
00379
00380 <font class="comment">// get local coordinates</font>
00381 localEstimated = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a27">getLocalPosition</a>(estimated);
00382 <font class="comment">// Yoyo: must snap vector.</font>
00383 CRetrieverInstance::snapVector(localEstimated);
00384
00385 <font class="comment">// fills _RetrieveTable by retrievingPosition.</font>
00386 retriever.retrievePosition(localEstimated, cst);
00387
00388 uint i, surf;
00389 <font class="comment">/* sint bestSurf = -1;</font>
00390 <font class="comment"> sint lastSurf = -1;</font>
00391 <font class="comment"> float bestDistance = 1.0e10f;</font>
00392 <font class="comment"> float bestHeight;*/</font>
00393 <font class="keywordtype">bool</font> found = <font class="keyword">false</font>;
00394
00395 <font class="keywordflow">switch</font> (_Type)
00396 {
00397 <font class="keywordflow">case</font> CLocalRetriever::Landscape:
00398 <font class="comment">// for landscape</font>
00399 <font class="keywordflow">for</font> (i=0; i<cst.PossibleSurfaces.size(); ++i)
00400 {
00401 surf = cst.PossibleSurfaces[i];
00402
00403 <font class="comment">// nldebug("PACS: surface %d: count %d", surf, cst.SurfaceLUT[surf].Counter);</font>
00404
00405 <font class="comment">// if the surface contains the estimated position.</font>
00406 <font class="keywordflow">if</font> (cst.SurfaceLUT[surf].Counter == 2)
00407 {
00408 <font class="keywordtype">float</font> meanHeight;
00409 <font class="keyword">const</font> CQuadLeaf *leaf;
00410
00411 <font class="comment">// search in the surface's quad tree for the actual height</font>
00412 leaf = retriever.getSurfaces()[surf].getQuadTree().getLeaf(localEstimated);
00413 <font class="comment">// if there is no acceptable leaf, just give up</font>
00414 <font class="keywordflow">if</font> (leaf != NULL)
00415 {
00416 meanHeight = leaf->getMaxHeight();
00417 <font class="comment">//meanHeight = retriever.getSurfaces()[surf].getQuadTree().getInterpZ(localEstimated);</font>
00418
00419 <font class="comment">// if it is closer to the estimation than the previous remembered...</font>
00420 found = <font class="keyword">true</font>;
00421 <font class="keywordtype">float</font> distance = (float)fabs(localEstimated.z-meanHeight);
00422 cst.SortedSurfaces.push_back(CCollisionSurfaceTemp::CDistanceSurface(distance, (uint16)surf, (uint16)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, cst.SurfaceLUT[surf].FoundCloseEdge));
00423 }
00424 }
00425 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (cst.SurfaceLUT[surf].Counter != 0)
00426 {
00427 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"PACS: unexpected surface (%d) count (%d) at instance %d (pos=(%f,%f,%f))"</font>, surf, cst.SurfaceLUT[surf].Counter, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m2">z</a>);
00428 }
00429
00430 cst.SurfaceLUT[surf].reset();
00431 }
00432
00433 <font class="keywordflow">break</font>;
00434
00435 <font class="keywordflow">case</font> CLocalRetriever::Interior:
00436 <font class="comment">// for interior</font>
00437 <font class="keywordflow">for</font> (i=0; i<cst.PossibleSurfaces.size(); ++i)
00438 {
00439 surf = cst.PossibleSurfaces[i];
00440 <font class="comment">// if the surface contains the estimated position.</font>
00441 <font class="keywordflow">if</font> (cst.SurfaceLUT[surf].Counter == 2)
00442 {
00443 ULocalPosition lp;
00444 <font class="keywordtype">bool</font> lfound = <font class="keyword">false</font>;
00445
00446 <font class="comment">// get the exact position</font>
00447 lp.Surface = surf;
00448 lp.Estimation = localEstimated;
00449 retriever.snapToInteriorGround(lp, lfound);
00450 <font class="keywordflow">if</font> (lfound)
00451 {
00452 <font class="comment">// if it is closer to the estimation than the previous remembered...</font>
00453 found = <font class="keyword">true</font>;
00454 <font class="keywordtype">float</font> distance = (float)fabs(localEstimated.z-lp.Estimation.z);
00455 cst.SortedSurfaces.push_back(CCollisionSurfaceTemp::CDistanceSurface(distance, (uint16)surf, (uint16)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, cst.SurfaceLUT[surf].FoundCloseEdge));
00456 }
00457 }
00458 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (cst.SurfaceLUT[surf].Counter != 0)
00459 {
00460 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"PACS: unexpected surface (%d) count (%d) at instance %d (pos=(%f,%f,%f))"</font>, surf, cst.SurfaceLUT[surf].Counter, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m0">x</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m1">y</a>, estimated.<a class="code" href="classNLMISC_1_1CVectorD.html#m2">z</a>);
00461 }
00462
00463 cst.SurfaceLUT[surf].reset();
00464 }
00465 <font class="keywordflow">break</font>;
00466
00467 <font class="keywordflow">default</font>:
00468 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"Unknown instance type %d !!"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a>);
00469 <font class="keywordflow">break</font>;
00470 }
00471
00472 cst.OutCounter = 0;
00473 }
00474
00475
00476
<a name="l00477"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a24">00477</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a24">NLPACS::CRetrieverInstance::snapToInteriorGround</a>(<a class="code" href="classNLPACS_1_1ULocalPosition.html">NLPACS::ULocalPosition</a> &position,
00478 <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html">NLPACS::CLocalRetriever</a> &retriever)<font class="keyword"> const</font>
00479 <font class="keyword"></font>{
00480 <font class="keywordtype">bool</font> lfound;
00481 retriever.<a class="code" href="classNLPACS_1_1CLocalRetriever.html#a2">snapToInteriorGround</a>(position, lfound);
00482 }
00483
<a name="l00484"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a25">00484</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a25">NLPACS::CRetrieverInstance::snap</a>(<a class="code" href="classNLPACS_1_1ULocalPosition.html">NLPACS::ULocalPosition</a> &position, <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html">NLPACS::CLocalRetriever</a> &retriever)<font class="keyword"> const</font>
00485 <font class="keyword"></font>{
00486 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> == CLocalRetriever::Landscape)
00487 {
00488 <font class="comment">// search in the surface's quad tree for the actual height</font>
00489 <font class="comment">// position.Estimation.z = retriever.getSurfaces()[position.Surface].getQuadTree().getInterpZ(position.Estimation);</font>
00490
00491 <font class="keyword">const</font> CQuadLeaf *leaf = retriever.<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z944_10">getSurfaces</a>()[position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>].getQuadTree().getLeaf(position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>);
00492 <font class="comment">// if there is no acceptable leaf, just give up</font>
00493 <font class="keywordflow">if</font> (leaf != NULL)
00494 {
00495 position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> = leaf->getMaxHeight();
00496 }
00497 <font class="keywordflow">else</font>
00498 {
00499 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"PACS: couldn't snap position (%f,%f,%f) on surface %d instance %d"</font>, position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m1">Estimation</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>, position.<a class="code" href="classNLPACS_1_1ULocalPosition.html#m0">Surface</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>);
00500 }
00501
00502 }
00503 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> == CLocalRetriever::Interior)
00504 {
00505 <font class="keywordtype">bool</font> lfound;
00506 retriever.<a class="code" href="classNLPACS_1_1CLocalRetriever.html#a2">snapToInteriorGround</a>(position, lfound);
00507 }
00508 <font class="keywordflow">else</font>
00509 {
00510 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"PACS: unknown instance (%d) type %d"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a>);
00511 }
00512 }
00513
00514
00515
00516
00517
<a name="l00518"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a27">00518</a> CVector <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a27">NLPACS::CRetrieverInstance::getLocalPosition</a>(<font class="keyword">const</font> CVector &globalPosition)<font class="keyword"> const</font>
00519 <font class="keyword"></font>{
00520 <font class="keywordflow">switch</font> (_Orientation)
00521 {
00522 <font class="keywordflow">default</font>:
00523 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CRetrieverInstance::getLocalPosition()"</font>);
00524 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"unexpected orientation value (%d)"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>);
00525 <font class="keywordflow">case</font> 0:
00526 <font class="keywordflow">return</font> CVector(+globalPosition.x-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, +globalPosition.y-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>);
00527 <font class="keywordflow">break</font>;
00528 <font class="keywordflow">case</font> 1:
00529 <font class="keywordflow">return</font> CVector(+globalPosition.y-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, -globalPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>);
00530 <font class="keywordflow">break</font>;
00531 <font class="keywordflow">case</font> 2:
00532 <font class="keywordflow">return</font> CVector(-globalPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, -globalPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>);
00533 <font class="keywordflow">break</font>;
00534 <font class="keywordflow">case</font> 3:
00535 <font class="keywordflow">return</font> CVector(-globalPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, +globalPosition.x-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>);
00536 <font class="keywordflow">break</font>;
00537 }
00538 }
00539
<a name="l00540"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a28">00540</a> CVector <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a27">NLPACS::CRetrieverInstance::getLocalPosition</a>(<font class="keyword">const</font> CVectorD &globalPosition)<font class="keyword"> const</font>
00541 <font class="keyword"></font>{
00542 <font class="keywordflow">switch</font> (_Orientation)
00543 {
00544 <font class="keywordflow">default</font>:
00545 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CRetrieverInstance::getLocalPosition()"</font>);
00546 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"unexpected orientation value (%d)"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>);
00547 <font class="keywordflow">case</font> 0:
00548 <font class="keywordflow">return</font> CVector((<font class="keywordtype">float</font>)(+globalPosition.x-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>), (<font class="keywordtype">float</font>)(+globalPosition.y-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>), (<font class="keywordtype">float</font>)(globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>));
00549 <font class="keywordflow">break</font>;
00550 <font class="keywordflow">case</font> 1:
00551 <font class="keywordflow">return</font> CVector((<font class="keywordtype">float</font>)(+globalPosition.y-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>), (<font class="keywordtype">float</font>)(-globalPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>), (<font class="keywordtype">float</font>)(globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>));
00552 <font class="keywordflow">break</font>;
00553 <font class="keywordflow">case</font> 2:
00554 <font class="keywordflow">return</font> CVector((<font class="keywordtype">float</font>)(-globalPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>), (<font class="keywordtype">float</font>)(-globalPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>), (<font class="keywordtype">float</font>)(globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>));
00555 <font class="keywordflow">break</font>;
00556 <font class="keywordflow">case</font> 3:
00557 <font class="keywordflow">return</font> CVector((<font class="keywordtype">float</font>)(-globalPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>), (<font class="keywordtype">float</font>)(+globalPosition.x-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>), (<font class="keywordtype">float</font>)(globalPosition.z-<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a>));
00558 <font class="keywordflow">break</font>;
00559 }
00560 }
00561
<a name="l00562"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a29">00562</a> CVector <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a29">NLPACS::CRetrieverInstance::getGlobalPosition</a>(<font class="keyword">const</font> CVector &localPosition)<font class="keyword"> const</font>
00563 <font class="keyword"></font>{
00564 <font class="keywordflow">switch</font> (_Orientation)
00565 {
00566 <font class="keywordflow">default</font>:
00567 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CRetrieverInstance::getLocalPosition()"</font>);
00568 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"unexpected orientation value (%d)"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>);
00569 <font class="keywordflow">case</font> 0:
00570 <font class="keywordflow">return</font> CVector(+localPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, +localPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, localPosition.z+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00571 <font class="keywordflow">break</font>;
00572 <font class="keywordflow">case</font> 1:
00573 <font class="keywordflow">return</font> CVector(-localPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, +localPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, localPosition.z+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00574 <font class="keywordflow">break</font>;
00575 <font class="keywordflow">case</font> 2:
00576 <font class="keywordflow">return</font> CVector(-localPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, -localPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, localPosition.z+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00577 <font class="keywordflow">break</font>;
00578 <font class="keywordflow">case</font> 3:
00579 <font class="keywordflow">return</font> CVector(+localPosition.y+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, -localPosition.x+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, localPosition.z+<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00580 <font class="keywordflow">break</font>;
00581 }
00582 }
00583
<a name="l00584"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a30">00584</a> CVectorD <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a30">NLPACS::CRetrieverInstance::getDoubleGlobalPosition</a>(<font class="keyword">const</font> CVector &localPosition)<font class="keyword"> const</font>
00585 <font class="keyword"></font>{
00586 <font class="keywordflow">switch</font> (_Orientation)
00587 {
00588 <font class="keywordflow">default</font>:
00589 <a class="code" href="debug_8h.html#a2">nlwarning</a>(<font class="stringliteral">"in NLPACS::CRetrieverInstance::getLocalPosition()"</font>);
00590 <a class="code" href="debug_8h.html#a3">nlerror</a>(<font class="stringliteral">"unexpected orientation value (%d)"</font>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>);
00591 <font class="keywordflow">case</font> 0:
00592 <font class="keywordflow">return</font> CVectorD(+(<font class="keywordtype">double</font>)localPosition.x+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, +(<font class="keywordtype">double</font>)localPosition.y+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, (<font class="keywordtype">double</font>)localPosition.z+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00593 <font class="keywordflow">break</font>;
00594 <font class="keywordflow">case</font> 1:
00595 <font class="keywordflow">return</font> CVectorD(-(<font class="keywordtype">double</font>)localPosition.y+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, +(<font class="keywordtype">double</font>)localPosition.x+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, (<font class="keywordtype">double</font>)localPosition.z+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00596 <font class="keywordflow">break</font>;
00597 <font class="keywordflow">case</font> 2:
00598 <font class="keywordflow">return</font> CVectorD(-(<font class="keywordtype">double</font>)localPosition.x+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, -(<font class="keywordtype">double</font>)localPosition.y+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, (<font class="keywordtype">double</font>)localPosition.z+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00599 <font class="keywordflow">break</font>;
00600 <font class="keywordflow">case</font> 3:
00601 <font class="keywordflow">return</font> CVectorD(+(<font class="keywordtype">double</font>)localPosition.y+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m0">x</a>, -(<font class="keywordtype">double</font>)localPosition.x+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m1">y</a>, (<font class="keywordtype">double</font>)localPosition.z+(<font class="keywordtype">double</font>)<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>.<a class="code" href="classNLMISC_1_1CVector.html#m2">z</a> );
00602 <font class="keywordflow">break</font>;
00603 }
00604 }
00605
00606
00607
00608 <font class="comment">// ***************************************************************************</font>
<a name="l00609"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z956_0">00609</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z956_0">NLPACS::CRetrieverInstance::testExteriorCollision</a>(<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html">NLPACS::CCollisionSurfaceTemp</a> &cst, <font class="keyword">const</font> CAABBox &bboxMove, <font class="keyword">const</font> CVector2f &transBase, <font class="keyword">const</font> <a class="code" href="classNLPACS_1_1CLocalRetriever.html">NLPACS::CLocalRetriever</a> &retriever)<font class="keyword"> const</font>
00610 <font class="keyword"></font>{
00611 sint i;
00612
00613 <font class="comment">// 0. select ordered chains in the chainquad.</font>
00614 <font class="comment">//=====================================</font>
00615 sint nEei= <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.selectEdges(bboxMove, cst);
00616 <font class="comment">// NB: cst.OChainLUT is assured to be full of 0xFFFF after this call (if was right before).</font>
00617
00618
00619 <font class="comment">// 1. regroup them in chains. build cst.CollisionChains</font>
00620 <font class="comment">//=====================================</font>
00621 <font class="comment">// NB: use cst.OChainLUT to look if a Chain has been inserted before.</font>
00622 uint16 *edgeLUT= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m0">OChainLUT</a>;
00623
00624 <font class="comment">// bkup where we begin to add chains.</font>
00625 uint firstChainAdded= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.size();
00626
00627 <font class="comment">// For all exterioredge entry.</font>
00628 <font class="keywordflow">for</font>(i=0;i<nEei;i++)
00629 {
00630 <font class="comment">// get the edge entry and the edge</font>
00631 uint16 eei = cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m2">ExteriorEdgeIndexes</a>[i];
00632 <font class="keyword">const</font> CExteriorEdgeEntry &eee = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>.getEdgeEntry(eei);
00633
00634 <font class="comment">// don't bother about doors</font>
00635 <font class="keywordflow">if</font> (eee.Interior.RetrieverInstanceId != -1)
00636 <font class="keywordflow">continue</font>;
00637
00638 <font class="comment">// add/retrieve the id in cst.CollisionChains.</font>
00639 <font class="comment">//=================================</font>
00640 uint ccId;
00641 <font class="comment">// if never added.</font>
00642 <font class="keywordflow">if</font>(edgeLUT[eei]==0xFFFF)
00643 {
00644 <font class="comment">// add a new CCollisionChain.</font>
00645 ccId= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.size();
00646 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.push_back(CCollisionChain());
00647 <font class="comment">// Fill it with default.</font>
00648 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].Tested= <font class="keyword">false</font>;
00649 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].ExteriorEdge = <font class="keyword">true</font>;
00650 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].FirstEdgeCollide= 0xFFFFFFFF;
00651 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].ChainId= eei;
00652 <font class="comment">// Fill Left right info.</font>
00653 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].LeftSurface = eee.Interior;
00654 cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId].RightSurface = eee.Exterior;
00655
00656 <font class="comment">// store this Id in the LUT of chains.</font>
00657 edgeLUT[eei]= ccId;
00658 }
00659 <font class="keywordflow">else</font>
00660 {
00661 <font class="comment">// get the id of this collision chain.</font>
00662 ccId= edgeLUT[eei];
00663 }
00664
00665 <font class="comment">// add edge collide to the list.</font>
00666 <font class="comment">//=================================</font>
00667 CCollisionChain &colChain= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[ccId];
00668
00669 CVector2f p0 = CVector2f(retriever.<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_0">_ExteriorMesh</a>.getEdge(eee.EdgeId).Start);
00670 CVector2f p1 = CVector2f(retriever.<a class="code" href="classNLPACS_1_1CLocalRetriever.html#z942_0">_ExteriorMesh</a>.getEdge(eee.EdgeId+1).Start);
00671
00672 <font class="comment">// alloc a new edgeCollide.</font>
00673 uint32 ecnId= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#z930_1">allocEdgeCollideNode</a>();
00674 CEdgeCollideNode &ecn= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#z930_2">getEdgeCollideNode</a>(ecnId);
00675
00676 <font class="comment">// append to the front of the list.</font>
00677 ecn.Next= colChain.FirstEdgeCollide;
00678 colChain.FirstEdgeCollide= ecnId;
00679
00680 <font class="comment">// build this edge.</font>
00681 p0+= transBase;
00682 p1+= transBase;
00683 ecn.make(p0, p1);
00684 }
00685
00686
00687
00688 <font class="comment">// 2. Reset LUT to 0xFFFF.</font>
00689 <font class="comment">//=====================================</font>
00690
00691 <font class="comment">// for all collisions chains inserted (starting from firstChainAdded), reset LUT.</font>
00692 <font class="keywordflow">for</font>(i=firstChainAdded; i<(sint)cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>.size(); i++)
00693 {
00694 uint ccId= cst.<a class="code" href="classNLPACS_1_1CCollisionSurfaceTemp.html#m7">CollisionChains</a>[i].ChainId;
00695 edgeLUT[ccId]= 0xFFFF;
00696 }
00697
00698 }
00699
00700
00701
00702
<a name="l00703"></a><a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a26">00703</a> <font class="keywordtype">void</font> <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#a26">NLPACS::CRetrieverInstance::serial</a>(<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &f)
00704 {
00705 <font class="comment">/*</font>
00706 <font class="comment"> Version 0:</font>
00707 <font class="comment"> - base version.</font>
00708 <font class="comment"> Version 1:</font>
00709 <font class="comment"> - added type and _EdgeQuad</font>
00710 <font class="comment"> */</font>
00711 sint ver= f.<a class="code" href="classNLMISC_1_1IStream.html#a29">serialVersion</a>(1);
00712
00713 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n1">_InstanceId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n2">_RetrieverId</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_0">_Orientation</a>, <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_1">_Origin</a>);
00714 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_0">_Neighbors</a>);
00715 f.<a class="code" href="classNLMISC_1_1IStream.html#a7">serialCont</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z953_1">_BorderChainLinks</a>);
00716 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z952_2">_BBox</a>);
00717
00718 <font class="comment">// serialises the number of nodes</font>
00719 uint16 totalNodes = <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>.size();
00720 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(totalNodes);
00721 <font class="keywordflow">if</font> (f.<a class="code" href="classNLMISC_1_1IStream.html#a4">isReading</a>())
00722 {
00723 <font class="comment">// if the stream is reading, reinits the temps table...</font>
00724 <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n0">_NodesInformation</a>.resize(totalNodes);
00725 }
00726
00727 <font class="keywordflow">if</font> (ver >= 1)
00728 {
00729 f.<a class="code" href="classNLMISC_1_1IStream.html#a6">serialEnum</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a>);
00730 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#z954_0">_ExteriorEdgeQuad</a>);
00731
00732 <font class="comment">// a fix for old versions (with wrong _Type value)</font>
00733 <font class="keywordflow">if</font> (<a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> != CLocalRetriever::Interior) <a class="code" href="classNLPACS_1_1CRetrieverInstance.html#n3">_Type</a> = CLocalRetriever::Landscape;
00734 }
00735 }
</pre></div>
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