/************************************************************************/
/*?file:Main.cpp????????????????????????????????????????????????????????*/
/*?author:?Hao?Shuang???????????????????????????????????????????????????*/
/*?created?date:?10/24/2010?????????????????????????????????????????????*/
/*?modified?date:?2010年10月24日17:05:14?????????????????????????????????*/
/*?function:?utilities?handle?the?tracker???????????????????????????????*/
/************************************************************************/
#include?“CollisionDetection.h“

//constructor:?insert??the?elements?in?the?const?float?array?into?the?left?vector
CollisionDetection::CollisionDetection（）
{
	//連接到命名管道
	connect_pipe（）;

	for?（int?i=0;i<4;i++）
	{
		Vec3f?temp（points[i][0]points[i][1]points[i][2]）;
		this->left.push_back（temp）;
	}

	//{4.04.010.0};//{-2.00.010.0}
	offs[0]=4.0;
	offs[1]=4.0;
	offs[2]=10.0;
}

CollisionDetection::~CollisionDetection（）
{
	
}

int?CollisionDetection::connect_pipe（）
{
	if?（FALSE==WaitNamedPipe（“\\\\.\\pipe\\TrackerService“NMPWAIT_WAIT_FOREVER））
	{
		std::cout<<“Cannot?connect?to?the?server...“<		Sleep（2000）;
		return?-1;
	}
	else
	{
		std::cout<<“connect?to?the?server?successfully...“<	}

	createHandle=CreateFile（“\\\\.\\pipe\\TrackerService“GENERIC_READ0NULLOPEN_EXISTINGFILE_ATTRIBUTE_NORMALNULL）;
	if?（createHandle==INVALID_HANDLE_VALUE）
	{
		std::cout<<“open?the?pipe?failed...“<		return?-1;
	}
	else
	{
		std::cout<<“open?the?pipe?successfully...“<	}

	return?0;
}

//更新跟蹤器數(shù)據(jù)
void?CollisionDetection::updateData（）
{
	//read?record?from?the?named?pipe
	DWORD?lpNumberOfBytesRead;
	ReadFile（createHandle&darsizeof（dar）（LPDWORD）&lpNumberOfBytesReadNULL）;
	std::cout<}

//得到傳感器缺口位置的坐標(biāo)
void?CollisionDetection::getRealPosition（float?res[]int?x0int?y0int?z0）
{
	updateData（）;
	res[0]=dar.x+x0*dar.s[0][0]+y0*dar.s[1][0]+z0*dar.s[2][0];
	res[1]=dar.y+x0*dar.s[0][1]+y0*dar.s[1][1]+z0*dar.s[2][1];
	res[2]=dar.z+x0*dar.s[0][2]+y0*dar.s[1][2]+z0*dar.s[2][2];
}

//fit?for?array
void?CollisionDetection::equation（float?res[]?float?a[]?float?b[]）
{
	res[0]?=?（a[2]?*?b[1]?-?b[2]?*?a[1]）?/?（a[0]?*?b[1]?-?b[0]?*?a[1]）;
	res[1]?=?（a[2]?-?a[0]?*?res[0]）?/?a[1];
}

//fit?for?variants
void?CollisionDetection::equation2（float?*x?float?*y?float?a1?float?b1?float?c1?float?a2?float?b2?float?c2）
{
	*x?=?（c1?*?b2?-?c2?*?b1）?/?（a1?*?b2?-?a2?*?b1）;
	*y?=?（c1?-?a1?*?*x）?/?b1;
}


void?CollisionDetection::equation3（float?res[]?float?m[]?float?n[]?float?p[]）
{
	equation2（&（res[0]）?&（res[1]）?m[0]?*?p[2]?-?p[0]?*?m[2]?m[1]?*?p[2]?-?p[1]?*?m[2]?
		m[3]?*?p[2]?-?p[3]??*?m[2]?n[0]?*?p[2]?-?p[0]?*?n[2]?n[1]?*?p[2]?-?p[1]?*?n[2]?n[3]?*?p[2]?-?p[3]?*?n[2]）;
	res[2]=?（m[3]?-?m[0]?*?res[0]?-?m[1]?*?res[1]）?/?m[2];
}

//驗(yàn)證上述計(jì)算三元一次方程組的函數(shù)是否正確
void?CollisionDetection

?屬性????????????大小?????日期????時(shí)間???名稱(chēng)
-----------?---------??----------?-----??----

?????文件?????285444??2010-07-17?17:13??CollisionDetection\CollisionDetection\CollideLIB.lib

?????文件???????8058??2011-03-03?21:58??CollisionDetection\CollisionDetection\CollisionDetection.cpp

?????文件???????2385??2011-03-03?21:55??CollisionDetection\CollisionDetection\CollisionDetection.h

?????文件???????1494??2010-11-25?10:48??CollisionDetection\CollisionDetection\CollisionDetection.ncb

?????文件???????5617??2011-05-11?16:59??CollisionDetection\CollisionDetection\CollisionDetection.vcproj

?????文件???????1427??2011-05-11?16:59??CollisionDetection\CollisionDetection\CollisionDetection.vcproj.PC-201007171505.Administrator.user

?????文件??????19832??2011-03-03?21:57??CollisionDetection\CollisionDetection\Debug\BuildLog.htm

?????文件????????663??2010-11-22?20:17??CollisionDetection\CollisionDetection\Debug\CollisionDetection.exe.embed.manifest

?????文件????????728??2010-11-22?20:17??CollisionDetection\CollisionDetection\Debug\CollisionDetection.exe.embed.manifest.res

?????文件????????621??2011-03-03?21:57??CollisionDetection\CollisionDetection\Debug\CollisionDetection.exe.intermediate.manifest

?????文件?????218829??2011-03-03?21:57??CollisionDetection\CollisionDetection\Debug\CollisionDetection.obj

?????文件??????58410??2011-03-03?21:56??CollisionDetection\CollisionDetection\Debug\Main.obj

?????文件?????????69??2011-03-03?21:57??CollisionDetection\CollisionDetection\Debug\mt.dep

?????文件??????35012??2010-11-22?20:17??CollisionDetection\CollisionDetection\Debug\polytope.obj

?????文件?????320128??2011-02-25?21:39??CollisionDetection\CollisionDetection\Debug\Transform.obj

?????文件?????781312??2011-03-03?21:57??CollisionDetection\CollisionDetection\Debug\vc90.idb

?????文件?????348160??2011-03-03?21:57??CollisionDetection\CollisionDetection\Debug\vc90.pdb

?????文件??????28455??2010-11-10?18:41??CollisionDetection\CollisionDetection\jama_eig.h

?????文件???????3721??2011-05-11?16:56??CollisionDetection\CollisionDetection\Main.cpp

?????文件?????????33??2010-11-05?13:49??CollisionDetection\CollisionDetection\PCIBird3.ini

?????文件???????2322??2010-11-12?11:32??CollisionDetection\CollisionDetection\polytope.Cpp

?????文件????????730??2010-07-17?16:24??CollisionDetection\CollisionDetection\polytope.H

?????文件???????4883??2005-02-11?14:21??CollisionDetection\CollisionDetection\tnt_array1d.h

?????文件???????5173??2010-11-10?18:40??CollisionDetection\CollisionDetection\tnt_array2d.h

?????文件??????10757??2004-10-15?17:06??CollisionDetection\CollisionDetection\tnt_cmat.h

?????文件???????4396??2004-11-16?14:50??CollisionDetection\CollisionDetection\tnt_i_refvec.h

?????文件????????494??2004-10-15?17:06??CollisionDetection\CollisionDetection\tnt_math_utils.h

?????文件???????1585??2004-10-15?17:06??CollisionDetection\CollisionDetection\tnt_subscript.h

?????文件???????7175??2004-11-16?14:36??CollisionDetection\CollisionDetection\tnt_vec.h

?????文件???????5110??2011-02-25?16:16??CollisionDetection\CollisionDetection\Transform.cpp

............此處省略19個(gè)文件信息