std::string cLayerImage::NamePose2NameLayer(const std::string & aNP)
{
// En geometrie terrain chaque image genere une entree, pour avoir son orientation
return IsTerrain() ?
aNP :
mAppli.ICNM()->Assoc1To1(mLI2P.KeyCalculImage(),aNP,true) ;
}
bool
AirspaceAltitude::IsBelow(const AltitudeState &state, const fixed margin) const
{
return GetAltitude(state) <= state.altitude + margin ||
/* special case: GND is always "below" the aircraft, even if the
aircraft's AGL altitude turns out to be negative due to terrain
file inaccuracies */
IsTerrain();
}
string RobotWorld::GetName(int id) const
{
int i = IsRigidObject(id);
if(i >= 0) return rigidObjects[i].name;
i = IsTerrain(id);
if(i >= 0) return terrains[i].name;
i = IsRobot(id);
if(i >= 0) return robots[i].name;
pair<int,int> j = IsRobotLink(id);
if(j.first >= 0) return robots[j.first].name+"["+robots[j.first].robot->linkNames[j.second]+"]";
return "";
}
GLDraw::GeometryAppearance& RobotWorld::GetAppearance(int id)
{
int terrain = IsTerrain(id);
if(terrain >= 0)
return terrains[terrain].view.appearance;
int rigidObject = IsRigidObject(id);
if(rigidObject >= 0)
return rigidObjects[rigidObject].view.appearance;
pair<int,int> robotLink = IsRobotLink(id);
if(robotLink.first >= 0) {
return robots[robotLink.first].view.linkAppearance[robotLink.second];
}
FatalError("GetGeometry: Invalid ID: %d\n",id);
return robots[0].view.linkAppearance[0];
}
const Geometry::AnyCollisionGeometry3D& RobotWorld::GetGeometry(int id) const
{
int terrain = IsTerrain(id);
if(terrain >= 0)
return terrains[terrain].terrain->geometry;
int rigidObject = IsRigidObject(id);
if(rigidObject >= 0)
return rigidObjects[rigidObject].object->geometry;
pair<int,int> robotLink = IsRobotLink(id);
if(robotLink.first >= 0) {
return robots[robotLink.first].robot->geometry[robotLink.second];
}
FatalError("GetGeometry: Invalid ID: %d\n",id);
return robots[0].robot->geometry[0];
}
