[4588] | 1 | /* |
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[4541] | 2 | orxonox - the future of 3D-vertical-scrollers |
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| 3 | |
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| 4 | Copyright (C) 2004 orx |
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| 5 | |
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| 6 | This program is free software; you can redistribute it and/or modify |
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| 7 | it under the terms of the GNU General Public License as published by |
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| 8 | the Free Software Foundation; either version 2, or (at your option) |
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| 9 | any later version. |
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| 10 | |
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[4617] | 11 | ### File Specific: |
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[4541] | 12 | main-programmer: Patrick Boenzli |
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| 13 | */ |
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| 14 | |
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[7711] | 15 | #define DEBUG_SPECIAL_MODULE 3/* DEBUG_MODULE_COLLISION_DETECTION*/ |
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[4541] | 16 | |
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| 17 | #include "obb_tree_node.h" |
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[7711] | 18 | #include "obb_tree.h" |
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[4542] | 19 | #include "obb.h" |
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[7711] | 20 | |
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[5674] | 21 | #include "matrix.h" |
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[6022] | 22 | #include "model.h" |
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[5028] | 23 | #include "world_entity.h" |
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[6617] | 24 | #include "plane.h" |
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[4541] | 25 | |
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[5481] | 26 | #include "color.h" |
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[7711] | 27 | #include "glincl.h" |
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[4543] | 28 | |
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[7711] | 29 | #include <list> |
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| 30 | #include <vector> |
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[5511] | 31 | #include "debug.h" |
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[4572] | 32 | |
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| 33 | |
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| 34 | |
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[4541] | 35 | using namespace std; |
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| 36 | |
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| 37 | |
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[5430] | 38 | GLUquadricObj* OBBTreeNode_sphereObj = NULL; |
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[4630] | 39 | |
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[7711] | 40 | |
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[4541] | 41 | /** |
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[4836] | 42 | * standard constructor |
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[7711] | 43 | * @param tree: reference to the obb tree |
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| 44 | * @param depth: the depth of the obb tree to generate |
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[4617] | 45 | */ |
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[7711] | 46 | OBBTreeNode::OBBTreeNode (const OBBTree& tree, OBBTreeNode* prev, int depth) |
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| 47 | : BVTreeNode() |
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[4541] | 48 | { |
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[4617] | 49 | this->setClassID(CL_OBB_TREE_NODE, "OBBTreeNode"); |
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[7711] | 50 | |
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| 51 | this->obbTree = &tree; |
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| 52 | this->nodePrev = prev; |
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| 53 | this->depth = depth; |
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| 54 | this->nextID = 0; |
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| 55 | |
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[4618] | 56 | this->nodeLeft = NULL; |
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| 57 | this->nodeRight = NULL; |
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[4814] | 58 | this->bvElement = NULL; |
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[4630] | 59 | |
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[7711] | 60 | this->triangleIndexList1 = NULL; |
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| 61 | this->triangleIndexList2 = NULL; |
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[4638] | 62 | |
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[7711] | 63 | this->modelInf = NULL; |
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| 64 | this->triangleIndexes = NULL; |
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| 65 | |
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[5693] | 66 | if( OBBTreeNode_sphereObj == NULL) |
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[5430] | 67 | OBBTreeNode_sphereObj = gluNewQuadric(); |
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[7711] | 68 | |
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| 69 | this->owner = NULL; |
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| 70 | |
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| 71 | /* debug ids */ |
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| 72 | if( this->nodePrev) |
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| 73 | this->treeIndex = 100 * this->depth + this->nodePrev->getID(); |
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| 74 | else |
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| 75 | this->treeIndex = 0; |
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[4541] | 76 | } |
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| 77 | |
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| 78 | |
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| 79 | /** |
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[4836] | 80 | * standard deconstructor |
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[4617] | 81 | */ |
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[4588] | 82 | OBBTreeNode::~OBBTreeNode () |
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[4541] | 83 | { |
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[4814] | 84 | if( this->nodeLeft) |
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| 85 | delete this->nodeLeft; |
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| 86 | if( this->nodeRight) |
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| 87 | delete this->nodeRight; |
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[7711] | 88 | |
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[4814] | 89 | if( this->bvElement) |
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| 90 | delete this->bvElement; |
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[4541] | 91 | } |
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| 92 | |
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| 93 | |
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[5684] | 94 | /** |
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| 95 | * creates a new BVTree or BVTree partition |
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| 96 | * @param depth: how much more depth-steps to go: if == 1 don't go any deeper! |
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| 97 | * @param modInfo: model informations from the abstrac model |
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[5689] | 98 | * |
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[5684] | 99 | * this function creates the Bounding Volume tree from a modelInfo struct and bases its calculations |
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| 100 | * on the triangle informations (triangle soup not polygon soup) |
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| 101 | */ |
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[7711] | 102 | void OBBTreeNode::spawnBVTree(const modelInfo& modelInf, const int* triangleIndexes, int length) |
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[5684] | 103 | { |
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[7734] | 104 | PRINTF(4)("\n==============================Creating OBB Tree Node==================\n"); |
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| 105 | PRINT(4)(" OBB Tree Infos: \n"); |
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| 106 | PRINT(4)("\tDepth: %i \n\tTree Index: %i \n\tNumber of Triangles: %i\n", depth, this->treeIndex, length); |
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[5684] | 107 | this->depth = depth; |
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[4542] | 108 | |
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[5684] | 109 | this->bvElement = new OBB(); |
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[7711] | 110 | this->bvElement->modelInf = &modelInf; |
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| 111 | this->bvElement->triangleIndexes = triangleIndexes; |
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| 112 | this->bvElement->triangleIndexesLength = length; |
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[5684] | 113 | |
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[7711] | 114 | /* create the bounding boxes in three steps */ |
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| 115 | this->calculateBoxCovariance(*this->bvElement, modelInf, triangleIndexes, length); |
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| 116 | this->calculateBoxEigenvectors(*this->bvElement, modelInf, triangleIndexes, length); |
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| 117 | this->calculateBoxAxis(*this->bvElement, modelInf, triangleIndexes, length); |
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[4614] | 118 | |
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[7711] | 119 | /* do we need to descent further in the obb tree?*/ |
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[4614] | 120 | if( likely( this->depth > 0)) |
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| 121 | { |
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[7711] | 122 | this->forkBox(*this->bvElement); |
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[4626] | 123 | |
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[7711] | 124 | if( this->triangleIndexLength1 >= 3) |
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[4638] | 125 | { |
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[7711] | 126 | this->nodeLeft = new OBBTreeNode(*this->obbTree, this, depth - 1); |
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| 127 | this->nodeLeft->spawnBVTree(modelInf, this->triangleIndexList1, this->triangleIndexLength1); |
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[4638] | 128 | } |
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[7711] | 129 | if( this->triangleIndexLength2 >= 3) |
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[4638] | 130 | { |
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[7711] | 131 | this->nodeRight = new OBBTreeNode(*this->obbTree, this, depth - 1); |
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| 132 | this->nodeRight->spawnBVTree(modelInf, this->triangleIndexList2, this->triangleIndexLength2); |
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[4638] | 133 | } |
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[4614] | 134 | } |
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[4557] | 135 | } |
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| 136 | |
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| 137 | |
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| 138 | |
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[7711] | 139 | /** |
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| 140 | * calculate the box covariance matrix |
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| 141 | * @param box: reference to the box |
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| 142 | * @param modelInf: the model info structure of the model |
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| 143 | * @param tirangleIndexes: an array with the indexes of the triangles inside this |
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| 144 | * @param length: the length of the indexes array |
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| 145 | */ |
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| 146 | void OBBTreeNode::calculateBoxCovariance(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, int length) |
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[4557] | 147 | { |
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[4543] | 148 | float facelet[length]; //!< surface area of the i'th triangle of the convex hull |
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[5428] | 149 | float face = 0.0f; //!< surface area of the entire convex hull |
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[4588] | 150 | Vector centroid[length]; //!< centroid of the i'th convex hull |
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[4557] | 151 | Vector center; //!< the center of the entire hull |
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[4544] | 152 | Vector p, q, r; //!< holder of the polygon data, much more conveniant to work with Vector than sVec3d |
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[4545] | 153 | Vector t1, t2; //!< temporary values |
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[8316] | 154 | float covariance[3][3] = {{0,0,0}, {0,0,0}, {0,0,0}};//!< the covariance matrix |
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[4588] | 155 | |
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[7711] | 156 | /* fist compute all the convex hull face/facelets and centroids */ |
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| 157 | for( int i = 0; i < length ; ++i) |
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[4648] | 158 | { |
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[7711] | 159 | p = &modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[0]]; |
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| 160 | q = &modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[1]]; |
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| 161 | r = &modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[2]]; |
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[4638] | 162 | |
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[7711] | 163 | /* finding the facelet surface via cross-product */ |
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| 164 | t1 = p - q; |
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| 165 | t2 = p - r; |
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| 166 | facelet[i] = 0.5f * /*fabs*/( t1.cross(t2).len() ); |
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| 167 | /* update the entire convex hull surface */ |
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| 168 | face += facelet[i]; |
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[4638] | 169 | |
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[7711] | 170 | /* calculate the cetroid of the hull triangles */ |
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| 171 | centroid[i] = (p + q + r) / 3.0f; |
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| 172 | /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */ |
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| 173 | center += centroid[i] * facelet[i]; |
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| 174 | /* the arithmetical center */ |
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[4648] | 175 | } |
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[7711] | 176 | /* take the average of the centroid sum */ |
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| 177 | center /= face; |
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[4588] | 178 | |
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| 179 | |
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[7711] | 180 | /* now calculate the covariance matrix - if not written in three for-loops, |
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| 181 | it would compute faster: minor */ |
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| 182 | for( int j = 0; j < 3; ++j) |
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[4648] | 183 | { |
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[7711] | 184 | for( int k = 0; k < 3; ++k) |
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[4648] | 185 | { |
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[7711] | 186 | for( int i = 0; i < length; ++i) |
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[4648] | 187 | { |
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[7711] | 188 | p = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[0]]); |
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| 189 | q = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[1]]); |
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| 190 | r = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[2]]); |
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[4648] | 191 | |
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[7711] | 192 | covariance[j][k] = facelet[i] * (9.0f * centroid[i][j] * centroid[i][k] + p[j] * p[k] + |
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| 193 | q[j] * q[k] + r[j] * r[k]); |
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[4648] | 194 | } |
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[7711] | 195 | covariance[j][k] = covariance[j][k] / (12.0f * face) - center[j] * center[k]; |
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[4648] | 196 | } |
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| 197 | } |
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[7711] | 198 | for( int i = 0; i < 3; ++i) |
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[4617] | 199 | { |
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[7711] | 200 | box.covarianceMatrix[i][0] = covariance[i][0]; |
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| 201 | box.covarianceMatrix[i][1] = covariance[i][1]; |
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| 202 | box.covarianceMatrix[i][2] = covariance[i][2]; |
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[4617] | 203 | } |
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[7711] | 204 | box.center = center; |
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[4562] | 205 | |
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[7711] | 206 | /* debug output section*/ |
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[7734] | 207 | PRINTF(4)("\nOBB Covariance Matrix:\n"); |
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[4674] | 208 | for(int j = 0; j < 3; ++j) |
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| 209 | { |
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[7734] | 210 | PRINT(4)("\t\t"); |
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[4674] | 211 | for(int k = 0; k < 3; ++k) |
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| 212 | { |
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[7734] | 213 | PRINT(4)("%11.4f\t", covariance[j][k]); |
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[4674] | 214 | } |
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[7734] | 215 | PRINT(4)("\n"); |
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[4674] | 216 | } |
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[7734] | 217 | PRINTF(4)("\nWeighteed OBB Center:\n\t\t%11.4f\t %11.4f\t %11.4f\n", center.x, center.y, center.z); |
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[4631] | 218 | } |
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[4557] | 219 | |
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[4631] | 220 | |
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| 221 | |
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[7711] | 222 | /** |
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| 223 | * calculate the eigenvectors for the object oriented box |
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| 224 | * @param box: reference to the box |
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| 225 | * @param modelInf: the model info structure of the model |
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| 226 | * @param tirangleIndexes: an array with the indexes of the triangles inside this |
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| 227 | * @param length: the length of the indexes array |
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| 228 | */ |
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| 229 | void OBBTreeNode::calculateBoxEigenvectors(OBB& box, const modelInfo& modelInf, |
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| 230 | const int* triangleIndexes, int length) |
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[4631] | 231 | { |
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| 232 | |
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[7711] | 233 | Vector axis[3]; //!< the references to the obb axis |
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| 234 | Matrix covMat( box.covarianceMatrix ); //!< covariance matrix (in the matrix dataform) |
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| 235 | |
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| 236 | /* |
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| 237 | now getting spanning vectors of the sub-space: |
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[4617] | 238 | the eigenvectors of a symmertric matrix, such as the |
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| 239 | covarience matrix are mutually orthogonal. |
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| 240 | after normalizing them, they can be used as a the basis |
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| 241 | vectors |
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[4557] | 242 | */ |
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[4588] | 243 | |
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[7711] | 244 | /* calculate the axis */ |
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[5674] | 245 | covMat.getEigenVectors(axis[0], axis[1], axis[2] ); |
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[7711] | 246 | box.axis[0] = axis[0]; |
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| 247 | box.axis[1] = axis[1]; |
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| 248 | box.axis[2] = axis[2]; |
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[4627] | 249 | |
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[7735] | 250 | // this is for axis aligned bouning boxes only |
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[7711] | 251 | // box.axis[0] = Vector(1,0,0); |
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| 252 | // box.axis[1] = Vector(0,1,0); |
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| 253 | // box.axis[2] = Vector(0,0,1); |
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[5449] | 254 | |
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[7734] | 255 | PRINTF(4)("Eigenvectors:\n"); |
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| 256 | PRINT(4)("\t\t%11.2f \t%11.2f \t%11.2f\n", box.axis[0].x, box.axis[0].y, box.axis[0].z); |
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| 257 | PRINT(4)("\t\t%11.2f \t%11.2f \t%11.2f\n", box.axis[1].x, box.axis[1].y, box.axis[1].z); |
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| 258 | PRINT(4)("\t\t%11.2f \t%11.2f \t%11.2f\n", box.axis[2].x, box.axis[2].y, box.axis[2].z); |
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[4632] | 259 | } |
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[4588] | 260 | |
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[4626] | 261 | |
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[5684] | 262 | |
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| 263 | |
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[7711] | 264 | /** |
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| 265 | * calculate the eigenvectors for the object oriented box |
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| 266 | * @param box: reference to the box |
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| 267 | * @param modelInf: the model info structure of the model |
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| 268 | * @param tirangleIndexes: an array with the indexes of the triangles inside this |
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| 269 | * @param length: the length of the indexes array |
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| 270 | */ |
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| 271 | void OBBTreeNode::calculateBoxAxis(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, int length) |
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[4631] | 272 | { |
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[4630] | 273 | |
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[7734] | 274 | PRINTF(4)("Calculate Box Axis\n"); |
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[4576] | 275 | /* now get the axis length */ |
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[4578] | 276 | float tmpLength; //!< tmp save point for the length |
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[7711] | 277 | Plane p0(box.axis[0], box.center); //!< the axis planes |
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| 278 | Plane p1(box.axis[1], box.center); //!< the axis planes |
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| 279 | Plane p2(box.axis[2], box.center); //!< the axis planes |
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| 280 | float maxLength[3]; //!< maximal lenth of the axis |
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| 281 | float minLength[3]; //!< minimal length of the axis |
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| 282 | const float* tmpVec; //!< variable taking tmp vectors |
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| 283 | float centerOffset[3]; |
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[4588] | 284 | |
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[7711] | 285 | /* get the maximal dimensions of the body in all directions */ |
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| 286 | /* for the initialisation the value just has to be inside of the polygon soup -> first vertices (rand) */ |
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| 287 | for( int k = 0; k < 3; k++) |
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| 288 | { |
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| 289 | tmpVec = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[0]].indexToVertices[0]]); |
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| 290 | Plane* p; |
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| 291 | if( k == 0) |
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| 292 | p = &p0; |
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| 293 | else if( k == 1) |
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| 294 | p = &p1; |
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| 295 | else |
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| 296 | p = &p2; |
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| 297 | maxLength[k] = p->distancePoint(tmpVec); |
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| 298 | minLength[k] = p->distancePoint(tmpVec); |
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[4658] | 299 | |
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[7711] | 300 | for( int j = 0; j < length; ++j) { |
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| 301 | for( int i = 0; i < 3; ++i) { |
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| 302 | tmpVec = &modelInf.pVertices[modelInf.pTriangles[triangleIndexes[j]].indexToVertices[i]]; |
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| 303 | tmpLength = p->distancePoint(tmpVec); |
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[4658] | 304 | |
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[7711] | 305 | if( tmpLength > maxLength[k]) |
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| 306 | maxLength[k] = tmpLength; |
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| 307 | else if( tmpLength < minLength[k]) |
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| 308 | minLength[k] = tmpLength; |
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| 309 | } |
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[4658] | 310 | } |
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[7711] | 311 | } |
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[4658] | 312 | |
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| 313 | |
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| 314 | |
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[7711] | 315 | /* calculate the real centre of the body by using the axis length */ |
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| 316 | for( int i = 0; i < 3; ++i) |
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| 317 | { |
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| 318 | if( maxLength[i] > 0.0f && minLength[i] > 0.0f) // both axis positiv |
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| 319 | centerOffset[i] = minLength[i] + (maxLength[i] - minLength[i]) / 2.0f; |
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| 320 | else if( maxLength[i] > 0.0f && maxLength[i] < 0.0f) // positiv and negativ |
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| 321 | centerOffset[i] = (maxLength[i] + minLength[i]) / 2.0f; |
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| 322 | else //both negativ |
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| 323 | centerOffset[i] = minLength[i] + (maxLength[i] - minLength[i]) / 2.0f; |
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[4658] | 324 | |
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[7711] | 325 | box.halfLength[i] = (maxLength[i] - minLength[i]) / 2.0f; |
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| 326 | } |
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[4578] | 327 | |
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[7711] | 328 | box.center += (box.axis[0] * centerOffset[0]); |
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| 329 | box.center += (box.axis[1] * centerOffset[1]); |
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| 330 | box.center += (box.axis[2] * centerOffset[2]); |
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[4585] | 331 | |
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| 332 | |
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[7734] | 333 | PRINTF(4)("\n"); |
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| 334 | PRINT(4)("\tAxis halflength x: %11.2f (max: %11.2f, \tmin: %11.2f), offset: %11.2f\n", box.halfLength[0], maxLength[0], minLength[0], centerOffset[0]); |
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| 335 | PRINT(4)("\tAxis halflength y: %11.2f (max: %11.2f, \tmin: %11.2f), offset: %11.2f\n", box.halfLength[1], maxLength[1], minLength[1], centerOffset[1] ); |
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| 336 | PRINT(4)("\tAxis halflength z: %11.2f (max: %11.2f, \tmin: %11.2f), offset: %11.2f\n", box.halfLength[2], maxLength[2], minLength[2], centerOffset[2]); |
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[4542] | 337 | } |
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| 338 | |
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| 339 | |
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[4609] | 340 | |
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| 341 | /** |
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[7711] | 342 | * this separates an ob-box in the middle |
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| 343 | * @param box: the box to separate |
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| 344 | * |
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| 345 | * this will separate the box into to smaller boxes. the separation is done along the middle of the longest axis |
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[4609] | 346 | */ |
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[7711] | 347 | void OBBTreeNode::forkBox(OBB& box) |
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[4557] | 348 | { |
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[7711] | 349 | |
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[7734] | 350 | PRINTF(4)("Fork Box\n"); |
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[7711] | 351 | PRINTF(4)("Calculating the longest Axis\n"); |
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[4557] | 352 | /* get the longest axis of the box */ |
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[7711] | 353 | float longestAxis = -1.0f; //!< the length of the longest axis |
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| 354 | int longestAxisIndex = 0; //!< this is the nr of the longest axis |
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[4609] | 355 | |
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[7711] | 356 | |
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| 357 | /* now get the longest axis of the three exiting */ |
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| 358 | for( int i = 0; i < 3; ++i) |
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[4609] | 359 | { |
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[7711] | 360 | if( longestAxis < box.halfLength[i]) |
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[4557] | 361 | { |
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[7711] | 362 | longestAxis = box.halfLength[i]; |
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| 363 | longestAxisIndex = i; |
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[4557] | 364 | } |
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[4609] | 365 | } |
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[8842] | 366 | this->bvElement->radius = longestAxis; |
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[7734] | 367 | PRINTF(4)("\nLongest Axis is: Nr %i with a half-length of:%11.2f\n", longestAxisIndex, longestAxis); |
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[4588] | 368 | |
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[4609] | 369 | |
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[7711] | 370 | PRINTF(4)("Separating along the longest axis\n"); |
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[4557] | 371 | /* get the closest vertex near the center */ |
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[7711] | 372 | float tmpDist; //!< variable to save diverse distances temporarily |
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| 373 | Plane middlePlane(box.axis[longestAxisIndex], box.center); //!< the middle plane |
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[4588] | 374 | |
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[4609] | 375 | |
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[4611] | 376 | /* now definin the separation plane through this specified nearest point and partition |
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[4617] | 377 | the points depending on which side they are located |
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[4611] | 378 | */ |
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[7711] | 379 | std::list<int> partition1; //!< the vertex partition 1 |
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| 380 | std::list<int> partition2; //!< the vertex partition 2 |
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| 381 | float* triangleCenter = new float[3]; //!< the center of the triangle |
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| 382 | const float* a; //!< triangle edge a |
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| 383 | const float* b; //!< triangle edge b |
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| 384 | const float* c; //!< triangle edge c |
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[4611] | 385 | |
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[4710] | 386 | |
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[7711] | 387 | /* find the center of the box */ |
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| 388 | this->separationPlane = Plane(box.axis[longestAxisIndex], box.center); |
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| 389 | this->sepPlaneCenter[0] = box.center.x; |
---|
| 390 | this->sepPlaneCenter[1] = box.center.y; |
---|
| 391 | this->sepPlaneCenter[2] = box.center.z; |
---|
| 392 | this->longestAxisIndex = longestAxisIndex; |
---|
[4632] | 393 | |
---|
[7711] | 394 | for( int i = 0; i < box.triangleIndexesLength; ++i) |
---|
[4612] | 395 | { |
---|
[7711] | 396 | /* first calculate the middle of the triangle */ |
---|
| 397 | a = &box.modelInf->pVertices[box.modelInf->pTriangles[box.triangleIndexes[i]].indexToVertices[0]]; |
---|
| 398 | b = &box.modelInf->pVertices[box.modelInf->pTriangles[box.triangleIndexes[i]].indexToVertices[1]]; |
---|
| 399 | c = &box.modelInf->pVertices[box.modelInf->pTriangles[box.triangleIndexes[i]].indexToVertices[2]]; |
---|
| 400 | |
---|
| 401 | triangleCenter[0] = (a[0] + b[0] + c[0]) / 3.0f; |
---|
| 402 | triangleCenter[1] = (a[1] + b[1] + c[1]) / 3.0f; |
---|
| 403 | triangleCenter[2] = (a[2] + b[2] + c[2]) / 3.0f; |
---|
| 404 | tmpDist = this->separationPlane.distancePoint(*((sVec3D*)triangleCenter)); |
---|
| 405 | |
---|
| 406 | if( tmpDist > 0.0f) |
---|
| 407 | partition1.push_back(box.triangleIndexes[i]); /* positive numbers plus zero */ |
---|
| 408 | else if( tmpDist < 0.0f) |
---|
| 409 | partition2.push_back(box.triangleIndexes[i]); /* negatice numbers */ |
---|
| 410 | else { |
---|
| 411 | partition1.push_back(box.triangleIndexes[i]); /* 0.0f? unprobable... */ |
---|
| 412 | partition2.push_back(box.triangleIndexes[i]); |
---|
| 413 | } |
---|
[4612] | 414 | } |
---|
[7734] | 415 | PRINTF(4)("\nPartition1: got \t%i Vertices \nPartition2: got \t%i Vertices\n", partition1.size(), partition2.size()); |
---|
[4611] | 416 | |
---|
[4612] | 417 | |
---|
[4613] | 418 | /* now comes the separation into two different sVec3D arrays */ |
---|
| 419 | int index; //!< index storage place |
---|
[7711] | 420 | int* triangleIndexList1; //!< the vertex list 1 |
---|
| 421 | int* triangleIndexList2; //!< the vertex list 2 |
---|
| 422 | std::list<int>::iterator element; //!< the list iterator |
---|
[4613] | 423 | |
---|
[7711] | 424 | triangleIndexList1 = new int[partition1.size()]; |
---|
| 425 | triangleIndexList2 = new int[partition2.size()]; |
---|
[4613] | 426 | |
---|
[7711] | 427 | for( element = partition1.begin(), index = 0; element != partition1.end(); element++, index++) |
---|
| 428 | triangleIndexList1[index] = (*element); |
---|
[4613] | 429 | |
---|
[7711] | 430 | for( element = partition2.begin(), index = 0; element != partition2.end(); element++, index++) |
---|
| 431 | triangleIndexList2[index] = (*element); |
---|
[4613] | 432 | |
---|
[7711] | 433 | if( this->triangleIndexList1!= NULL) |
---|
| 434 | delete[] this->triangleIndexList1; |
---|
| 435 | this->triangleIndexList1 = triangleIndexList1; |
---|
| 436 | this->triangleIndexLength1 = partition1.size(); |
---|
[4613] | 437 | |
---|
[7711] | 438 | if( this->triangleIndexList2 != NULL) |
---|
| 439 | delete[] this->triangleIndexList2; |
---|
| 440 | this->triangleIndexList2 = triangleIndexList2; |
---|
| 441 | this->triangleIndexLength2 = partition2.size(); |
---|
[4557] | 442 | } |
---|
| 443 | |
---|
| 444 | |
---|
[4626] | 445 | |
---|
[7732] | 446 | /** |
---|
| 447 | * collides one tree with an other |
---|
| 448 | * @param treeNode the other bv tree node |
---|
| 449 | * @param nodeA the worldentity belonging to this bv |
---|
| 450 | * @param nodeB the worldentity belonging to treeNode |
---|
| 451 | */ |
---|
[5028] | 452 | void OBBTreeNode::collideWith(BVTreeNode* treeNode, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
[4695] | 453 | { |
---|
[7732] | 454 | if( unlikely(treeNode == NULL || nodeA == NULL || nodeB == NULL)) |
---|
[7711] | 455 | return; |
---|
| 456 | |
---|
[8843] | 457 | float distanceMax = this->bvElement->radius + ((OBBTreeNode*)treeNode)->bvElement->radius; |
---|
[8842] | 458 | float distance = fabs((nodeA->getAbsCoor() - nodeB->getAbsCoor()).len()); |
---|
| 459 | |
---|
[8845] | 460 | if( distance < distanceMax) |
---|
| 461 | PRINTF(0)(" %s (%s: group %i) vs %s (%s: group %i): distanceMax: %f, distance: %f\n", nodeA->getClassName(), nodeA->getName(), nodeA->getOMListNumber(), nodeB->getClassName(), nodeB->getName(), nodeB->getOMListNumber(), distanceMax, distance); |
---|
[8842] | 462 | |
---|
[7711] | 463 | PRINTF(4)("collideWith\n"); |
---|
[7732] | 464 | PRINTF(5)("Checking OBB %i vs %i: ", this->getIndex(), treeNode->getIndex()); |
---|
[5042] | 465 | |
---|
[7732] | 466 | // for now only collide with OBBTreeNodes |
---|
| 467 | this->collideWithOBB((OBBTreeNode*)treeNode, nodeA, nodeB); |
---|
| 468 | } |
---|
[7711] | 469 | |
---|
[7732] | 470 | |
---|
| 471 | |
---|
| 472 | /** |
---|
| 473 | * collides one obb tree with an other |
---|
| 474 | * @param treeNode the other bv tree node |
---|
| 475 | * @param nodeA the worldentity belonging to this bv |
---|
| 476 | * @param nodeB the worldentity belonging to treeNode |
---|
| 477 | */ |
---|
| 478 | void OBBTreeNode::collideWithOBB(OBBTreeNode* treeNode, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
| 479 | { |
---|
[7734] | 480 | |
---|
| 481 | if( this->overlapTest(this->bvElement, treeNode->bvElement, nodeA, nodeB)) |
---|
[4695] | 482 | { |
---|
[7732] | 483 | PRINTF(5)("collision @ lvl %i, object %s vs. %s, (%p, %p)\n", this->depth, nodeA->getClassName(), nodeB->getClassName(), this->nodeLeft, this->nodeRight); |
---|
[5038] | 484 | |
---|
[8190] | 485 | |
---|
| 486 | // left node |
---|
[7735] | 487 | if( this->nodeLeft != NULL ) |
---|
[4704] | 488 | { |
---|
[7732] | 489 | if( this->overlapTest(this->nodeLeft->bvElement, treeNode->bvElement, nodeA, nodeB)) |
---|
[4704] | 490 | { |
---|
[8849] | 491 | bool bAdvance = false; |
---|
[8190] | 492 | if( treeNode->nodeLeft != NULL) |
---|
| 493 | this->nodeLeft->collideWith(treeNode->nodeLeft, nodeA, nodeB); |
---|
[8849] | 494 | else |
---|
| 495 | bAdvance = true; |
---|
| 496 | |
---|
[8190] | 497 | if( treeNode->nodeRight != NULL) |
---|
| 498 | this->nodeLeft->collideWith(treeNode->nodeRight, nodeA, nodeB); |
---|
[8849] | 499 | else |
---|
| 500 | bAdvance = true; |
---|
| 501 | |
---|
| 502 | if( bAdvance) |
---|
| 503 | this->nodeLeft->collideWith(treeNode, nodeA, nodeB); // go down the other tree also |
---|
[4704] | 504 | } |
---|
| 505 | } |
---|
[8190] | 506 | |
---|
| 507 | // right node |
---|
| 508 | if( this->nodeRight != NULL ) |
---|
[4704] | 509 | { |
---|
[8190] | 510 | if( this->overlapTest(this->nodeRight->bvElement, treeNode->bvElement, nodeA, nodeB)) |
---|
[4704] | 511 | { |
---|
[8849] | 512 | bool bAdvance = false; |
---|
| 513 | |
---|
[8190] | 514 | if( treeNode->nodeLeft != NULL) |
---|
| 515 | this->nodeRight->collideWith(treeNode->nodeLeft, nodeA, nodeB); |
---|
[8849] | 516 | else |
---|
| 517 | bAdvance = true; |
---|
| 518 | |
---|
[8190] | 519 | if( treeNode->nodeRight != NULL) |
---|
| 520 | this->nodeRight->collideWith(treeNode->nodeRight, nodeA, nodeB); |
---|
[8849] | 521 | else |
---|
| 522 | bAdvance = true; |
---|
| 523 | |
---|
| 524 | if( bAdvance) |
---|
| 525 | this->nodeRight->collideWith(treeNode, nodeA, nodeB); // go down the other tree also |
---|
[4704] | 526 | } |
---|
[5044] | 527 | } |
---|
[5028] | 528 | |
---|
[8190] | 529 | |
---|
| 530 | // hybrid mode: we reached the end of this obbtree, now reach the end of the other tree |
---|
| 531 | if( this->nodeLeft == NULL && this->nodeRight == NULL) |
---|
[5044] | 532 | { |
---|
[8190] | 533 | if( treeNode->nodeLeft != NULL) |
---|
| 534 | this->collideWith(treeNode->nodeLeft, nodeA, nodeB); |
---|
| 535 | if( treeNode->nodeRight != NULL) |
---|
| 536 | this->collideWith(treeNode->nodeRight, nodeA, nodeB); |
---|
[4704] | 537 | } |
---|
[5044] | 538 | |
---|
[8190] | 539 | |
---|
| 540 | // now check if we reached the end of both trees |
---|
| 541 | if( unlikely((this->nodeRight == NULL && this->nodeLeft == NULL) && |
---|
| 542 | (treeNode->nodeRight == NULL && treeNode->nodeLeft == NULL)) ) |
---|
| 543 | { |
---|
[8849] | 544 | // PRINTF(0)("----------------------------------------------\n\n\n\n\n\n--------------------------------\n\n\n"); |
---|
[8190] | 545 | nodeA->registerCollision(nodeA, nodeB, (BoundingVolume*)this->bvElement, (BoundingVolume*)treeNode->bvElement); |
---|
| 546 | } |
---|
| 547 | |
---|
[4695] | 548 | } |
---|
| 549 | } |
---|
[4542] | 550 | |
---|
| 551 | |
---|
[7732] | 552 | /** |
---|
| 553 | * this actualy checks if one obb box touches the other |
---|
| 554 | * @param boxA the box from nodeA |
---|
| 555 | * @param boxB the box from nodeB |
---|
| 556 | * @param nodeA the node itself |
---|
| 557 | * @param nodeB the node itself |
---|
| 558 | */ |
---|
| 559 | bool OBBTreeNode::overlapTest(OBB* boxA, OBB* boxB, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
[4695] | 560 | { |
---|
[7711] | 561 | //HACK remove this again |
---|
| 562 | this->owner = nodeA; |
---|
| 563 | // if( boxB == NULL || boxA == NULL) |
---|
| 564 | // return false; |
---|
| 565 | |
---|
[4696] | 566 | /* first check all axis */ |
---|
[7713] | 567 | Vector t; |
---|
| 568 | float rA = 0.0f; |
---|
| 569 | float rB = 0.0f; |
---|
| 570 | Vector l; |
---|
| 571 | Vector rotAxisA[3]; |
---|
| 572 | Vector rotAxisB[3]; |
---|
[4626] | 573 | |
---|
[7732] | 574 | rotAxisA[0] = nodeA->getAbsDir().apply(boxA->axis[0]); |
---|
| 575 | rotAxisA[1] = nodeA->getAbsDir().apply(boxA->axis[1]); |
---|
| 576 | rotAxisA[2] = nodeA->getAbsDir().apply(boxA->axis[2]); |
---|
[4708] | 577 | |
---|
[7732] | 578 | rotAxisB[0] = nodeB->getAbsDir().apply(boxB->axis[0]); |
---|
| 579 | rotAxisB[1] = nodeB->getAbsDir().apply(boxB->axis[1]); |
---|
| 580 | rotAxisB[2] = nodeB->getAbsDir().apply(boxB->axis[2]); |
---|
[4708] | 581 | |
---|
[7732] | 582 | t = nodeA->getAbsCoor() + nodeA->getAbsDir().apply(boxA->center) - ( nodeB->getAbsCoor() + nodeB->getAbsDir().apply(boxB->center)); |
---|
[4708] | 583 | |
---|
[4703] | 584 | /* All 3 axis of the object A */ |
---|
[4701] | 585 | for( int j = 0; j < 3; ++j) |
---|
[4705] | 586 | { |
---|
| 587 | rA = 0.0f; |
---|
| 588 | rB = 0.0f; |
---|
[4708] | 589 | l = rotAxisA[j]; |
---|
[4705] | 590 | |
---|
[7732] | 591 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 592 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 593 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
[4705] | 594 | |
---|
[7732] | 595 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 596 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 597 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
[4705] | 598 | |
---|
[7711] | 599 | PRINTF(5)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
[4705] | 600 | |
---|
| 601 | if( (rA + rB) < fabs(t.dot(l))) |
---|
[4700] | 602 | { |
---|
[7711] | 603 | PRINTF(4)("no Collision\n"); |
---|
[4705] | 604 | return false; |
---|
| 605 | } |
---|
| 606 | } |
---|
[4700] | 607 | |
---|
[4705] | 608 | /* All 3 axis of the object B */ |
---|
| 609 | for( int j = 0; j < 3; ++j) |
---|
| 610 | { |
---|
| 611 | rA = 0.0f; |
---|
| 612 | rB = 0.0f; |
---|
[4708] | 613 | l = rotAxisB[j]; |
---|
[4701] | 614 | |
---|
[7732] | 615 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 616 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 617 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
[4700] | 618 | |
---|
[7732] | 619 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 620 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 621 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
[4703] | 622 | |
---|
[7711] | 623 | PRINTF(5)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
[4705] | 624 | |
---|
| 625 | if( (rA + rB) < fabs(t.dot(l))) |
---|
| 626 | { |
---|
[7711] | 627 | PRINTF(4)("no Collision\n"); |
---|
[4705] | 628 | return false; |
---|
[4701] | 629 | } |
---|
[4705] | 630 | } |
---|
[4700] | 631 | |
---|
[4705] | 632 | |
---|
| 633 | /* Now check for all face cross products */ |
---|
| 634 | |
---|
| 635 | for( int j = 0; j < 3; ++j) |
---|
| 636 | { |
---|
| 637 | for(int k = 0; k < 3; ++k ) |
---|
[4701] | 638 | { |
---|
| 639 | rA = 0.0f; |
---|
| 640 | rB = 0.0f; |
---|
[4708] | 641 | l = rotAxisA[j].cross(rotAxisB[k]); |
---|
[4701] | 642 | |
---|
[7732] | 643 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 644 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 645 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
[4701] | 646 | |
---|
[7732] | 647 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 648 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 649 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
[4701] | 650 | |
---|
[7711] | 651 | PRINTF(5)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
[4703] | 652 | |
---|
[4701] | 653 | if( (rA + rB) < fabs(t.dot(l))) |
---|
| 654 | { |
---|
[7711] | 655 | PRINTF(4)("keine Kollision\n"); |
---|
[4701] | 656 | return false; |
---|
| 657 | } |
---|
[4703] | 658 | } |
---|
[4705] | 659 | } |
---|
[4701] | 660 | |
---|
[7711] | 661 | /* FIXME: there is no collision mark set now */ |
---|
[7732] | 662 | boxA->bCollided = true; /* use this ONLY(!!!!) for drawing operations */ |
---|
| 663 | boxB->bCollided = true; |
---|
[4701] | 664 | |
---|
[7711] | 665 | |
---|
| 666 | PRINTF(4)("Kollision!\n"); |
---|
[4705] | 667 | return true; |
---|
[4695] | 668 | } |
---|
| 669 | |
---|
| 670 | |
---|
[7711] | 671 | /** |
---|
| 672 | * |
---|
| 673 | * draw the BV tree - debug mode |
---|
| 674 | */ |
---|
[5481] | 675 | void OBBTreeNode::drawBV(int depth, int drawMode, const Vector& color, bool top) const |
---|
[4553] | 676 | { |
---|
[7711] | 677 | /* this function can be used to draw the triangles and/or the points only */ |
---|
| 678 | if( 1 /*drawMode & DRAW_MODEL || drawMode & DRAW_ALL*/) |
---|
[4635] | 679 | { |
---|
[7711] | 680 | if( depth == 0/*!(drawMode & DRAW_SINGLE && depth != 0)*/) |
---|
[4622] | 681 | { |
---|
[7711] | 682 | if( 1 /*drawMode & DRAW_POINTS*/) |
---|
| 683 | { |
---|
[4712] | 684 | glBegin(GL_POINTS); |
---|
[7711] | 685 | glColor3f(0.3, 0.8, 0.54); |
---|
[8316] | 686 | for(unsigned int i = 0; i < this->bvElement->modelInf->numVertices*3; i+=3) |
---|
[7711] | 687 | glVertex3f(this->bvElement->modelInf->pVertices[i], |
---|
| 688 | this->bvElement->modelInf->pVertices[i+1], |
---|
| 689 | this->bvElement->modelInf->pVertices[i+2]); |
---|
| 690 | glEnd(); |
---|
[4638] | 691 | } |
---|
[4622] | 692 | } |
---|
[4635] | 693 | } |
---|
[4542] | 694 | |
---|
[5481] | 695 | if (top) |
---|
| 696 | { |
---|
| 697 | glPushAttrib(GL_ENABLE_BIT); |
---|
| 698 | glDisable(GL_LIGHTING); |
---|
| 699 | glDisable(GL_TEXTURE_2D); |
---|
| 700 | } |
---|
| 701 | glColor3f(color.x, color.y, color.z); |
---|
[4542] | 702 | |
---|
[5481] | 703 | |
---|
[4589] | 704 | /* draw world axes */ |
---|
[8776] | 705 | // if( 1 /*drawMode & DRAW_BV_AXIS*/) |
---|
| 706 | // { |
---|
| 707 | // glBegin(GL_LINES); |
---|
| 708 | // glColor3f(1.0, 0.0, 0.0); |
---|
| 709 | // glVertex3f(0.0, 0.0, 0.0); |
---|
| 710 | // glVertex3f(3.0, 0.0, 0.0); |
---|
| 711 | // |
---|
| 712 | // glColor3f(0.0, 1.0, 0.0); |
---|
| 713 | // glVertex3f(0.0, 0.0, 0.0); |
---|
| 714 | // glVertex3f(0.0, 3.0, 0.0); |
---|
| 715 | // |
---|
| 716 | // glColor3f(0.0, 0.0, 1.0); |
---|
| 717 | // glVertex3f(0.0, 0.0, 0.0); |
---|
| 718 | // glVertex3f(0.0, 0.0, 3.0); |
---|
| 719 | // glEnd(); |
---|
| 720 | // } |
---|
[4589] | 721 | |
---|
| 722 | |
---|
[7711] | 723 | if( 1/*drawMode & DRAW_BV_AXIS || drawMode & DRAW_ALL*/) |
---|
[4635] | 724 | { |
---|
[7711] | 725 | if( 1/*drawMode & DRAW_SINGLE && depth != 0*/) |
---|
[4635] | 726 | { |
---|
| 727 | /* draw the obb axes */ |
---|
| 728 | glBegin(GL_LINES); |
---|
[7711] | 729 | glColor3f(1.0, 0.0, 0.0); |
---|
| 730 | glVertex3f(this->bvElement->center.x, this->bvElement->center.y, this->bvElement->center.z); |
---|
| 731 | glVertex3f(this->bvElement->center.x + this->bvElement->axis[0].x * this->bvElement->halfLength[0], |
---|
| 732 | this->bvElement->center.y + this->bvElement->axis[0].y * this->bvElement->halfLength[0], |
---|
| 733 | this->bvElement->center.z + this->bvElement->axis[0].z * this->bvElement->halfLength[0]); |
---|
[4589] | 734 | |
---|
[7711] | 735 | glColor3f(0.0, 1.0, 0.0); |
---|
| 736 | glVertex3f(this->bvElement->center.x, this->bvElement->center.y, this->bvElement->center.z); |
---|
| 737 | glVertex3f(this->bvElement->center.x + this->bvElement->axis[1].x * this->bvElement->halfLength[1], |
---|
| 738 | this->bvElement->center.y + this->bvElement->axis[1].y * this->bvElement->halfLength[1], |
---|
| 739 | this->bvElement->center.z + this->bvElement->axis[1].z * this->bvElement->halfLength[1]); |
---|
[4588] | 740 | |
---|
[7711] | 741 | glColor3f(0.0, 0.0, 1.0); |
---|
| 742 | glVertex3f(this->bvElement->center.x, this->bvElement->center.y, this->bvElement->center.z); |
---|
| 743 | glVertex3f(this->bvElement->center.x + this->bvElement->axis[2].x * this->bvElement->halfLength[2], |
---|
| 744 | this->bvElement->center.y + this->bvElement->axis[2].y * this->bvElement->halfLength[2], |
---|
| 745 | this->bvElement->center.z + this->bvElement->axis[2].z * this->bvElement->halfLength[2]); |
---|
[4635] | 746 | glEnd(); |
---|
| 747 | } |
---|
| 748 | } |
---|
[4581] | 749 | |
---|
[4588] | 750 | |
---|
[4674] | 751 | /* DRAW POLYGONS */ |
---|
[4673] | 752 | if( drawMode & DRAW_BV_POLYGON || drawMode & DRAW_ALL || drawMode & DRAW_BV_BLENDED) |
---|
[4635] | 753 | { |
---|
[5487] | 754 | if (top) |
---|
| 755 | { |
---|
| 756 | glEnable(GL_BLEND); |
---|
| 757 | glBlendFunc(GL_SRC_ALPHA, GL_ONE); |
---|
| 758 | } |
---|
| 759 | |
---|
[7711] | 760 | if( this->nodeLeft == NULL && this->nodeRight == NULL) |
---|
[4710] | 761 | depth = 0; |
---|
[4588] | 762 | |
---|
[7711] | 763 | if( depth == 0 /*!(drawMode & DRAW_SINGLE && depth != 0)*/) |
---|
[5481] | 764 | { |
---|
[4670] | 765 | |
---|
[4588] | 766 | |
---|
[7711] | 767 | Vector cen = this->bvElement->center; |
---|
| 768 | Vector* axis = this->bvElement->axis; |
---|
| 769 | float* len = this->bvElement->halfLength; |
---|
[4588] | 770 | |
---|
[7711] | 771 | if( this->bvElement->bCollided) |
---|
| 772 | { |
---|
| 773 | glColor4f(1.0, 1.0, 1.0, .5); // COLLISION COLOR |
---|
| 774 | } |
---|
| 775 | else if( drawMode & DRAW_BV_BLENDED) |
---|
| 776 | { |
---|
| 777 | glColor4f(color.x, color.y, color.z, .5); |
---|
| 778 | } |
---|
[4588] | 779 | |
---|
[7711] | 780 | // debug out |
---|
| 781 | if( this->obbTree->getOwner() != NULL) |
---|
| 782 | { |
---|
| 783 | PRINTF(4)("debug poly draw: depth: %i, mode: %i, entity-name: %s, class: %s\n", depth, drawMode, this->obbTree->getOwner()->getName(), this->obbTree->getOwner()->getClassName()); |
---|
| 784 | } |
---|
| 785 | else |
---|
| 786 | PRINTF(4)("debug poly draw: depth: %i, mode: %i\n", depth, drawMode); |
---|
[4670] | 787 | |
---|
[4671] | 788 | |
---|
[7711] | 789 | /* draw bounding box */ |
---|
| 790 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 791 | glBegin(GL_QUADS); |
---|
| 792 | else |
---|
| 793 | glBegin(GL_LINE_LOOP); |
---|
| 794 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 795 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 796 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
[4671] | 797 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 798 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 799 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 800 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 801 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 802 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
[7711] | 803 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 804 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 805 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 806 | glEnd(); |
---|
| 807 | |
---|
| 808 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 809 | glBegin(GL_QUADS); |
---|
| 810 | else |
---|
| 811 | glBegin(GL_LINE_LOOP); |
---|
| 812 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 813 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 814 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 815 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 816 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 817 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
[4671] | 818 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 819 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 820 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
[7711] | 821 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 822 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 823 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
[4671] | 824 | glEnd(); |
---|
| 825 | |
---|
[7711] | 826 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 827 | glBegin(GL_QUADS); |
---|
| 828 | else |
---|
| 829 | glBegin(GL_LINE_LOOP); |
---|
| 830 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 831 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 832 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 833 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 834 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 835 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 836 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 837 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 838 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
[4671] | 839 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 840 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 841 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
[7711] | 842 | glEnd(); |
---|
| 843 | |
---|
| 844 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 845 | glBegin(GL_QUADS); |
---|
| 846 | else |
---|
| 847 | glBegin(GL_LINE_LOOP); |
---|
| 848 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 849 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 850 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 851 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 852 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 853 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
[4671] | 854 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 855 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 856 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
[7711] | 857 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 858 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 859 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
[4671] | 860 | glEnd(); |
---|
| 861 | |
---|
| 862 | |
---|
[7711] | 863 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 864 | { |
---|
| 865 | glBegin(GL_QUADS); |
---|
| 866 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 867 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 868 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 869 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 870 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 871 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 872 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 873 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 874 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 875 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 876 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 877 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 878 | glEnd(); |
---|
| 879 | |
---|
| 880 | glBegin(GL_QUADS); |
---|
| 881 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 882 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 883 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 884 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 885 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 886 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 887 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 888 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 889 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 890 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 891 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 892 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 893 | glEnd(); |
---|
| 894 | } |
---|
| 895 | |
---|
| 896 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 897 | glColor3f(color.x, color.y, color.z); |
---|
[4635] | 898 | } |
---|
| 899 | } |
---|
[4588] | 900 | |
---|
[4674] | 901 | /* DRAW SEPARATING PLANE */ |
---|
[4635] | 902 | if( drawMode & DRAW_SEPARATING_PLANE || drawMode & DRAW_ALL) |
---|
[4632] | 903 | { |
---|
[4636] | 904 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4635] | 905 | { |
---|
[4671] | 906 | if( drawMode & DRAW_BV_BLENDED) |
---|
[5481] | 907 | glColor4f(color.x, color.y, color.z, .6); |
---|
[4671] | 908 | |
---|
[7711] | 909 | /* now draw the separation plane */ |
---|
| 910 | Vector a1 = this->bvElement->axis[(this->longestAxisIndex + 1)%3]; |
---|
| 911 | Vector a2 = this->bvElement->axis[(this->longestAxisIndex + 2)%3]; |
---|
| 912 | Vector c = this->bvElement->center; |
---|
| 913 | float l1 = this->bvElement->halfLength[(this->longestAxisIndex + 1)%3]; |
---|
| 914 | float l2 = this->bvElement->halfLength[(this->longestAxisIndex + 2)%3]; |
---|
| 915 | glBegin(GL_QUADS); |
---|
| 916 | glVertex3f(c.x + a1.x * l1 + a2.x * l2, c.y + a1.y * l1+ a2.y * l2, c.z + a1.z * l1 + a2.z * l2); |
---|
| 917 | glVertex3f(c.x - a1.x * l1 + a2.x * l2, c.y - a1.y * l1+ a2.y * l2, c.z - a1.z * l1 + a2.z * l2); |
---|
| 918 | glVertex3f(c.x - a1.x * l1 - a2.x * l2, c.y - a1.y * l1- a2.y * l2, c.z - a1.z * l1 - a2.z * l2); |
---|
| 919 | glVertex3f(c.x + a1.x * l1 - a2.x * l2, c.y + a1.y * l1- a2.y * l2, c.z + a1.z * l1 - a2.z * l2); |
---|
| 920 | glEnd(); |
---|
[4671] | 921 | |
---|
[7711] | 922 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 923 | glColor4f(color.x, color.y, color.z, 1.0); |
---|
[4671] | 924 | |
---|
[4635] | 925 | } |
---|
[4632] | 926 | } |
---|
[4588] | 927 | |
---|
[4702] | 928 | |
---|
| 929 | |
---|
[5481] | 930 | if (depth > 0) |
---|
| 931 | { |
---|
| 932 | if( this->nodeLeft != NULL) |
---|
[5494] | 933 | this->nodeLeft->drawBV(depth - 1, drawMode, Color::HSVtoRGB(Color::RGBtoHSV(color)+Vector(15.0,0.0,0.0)), false); |
---|
[5481] | 934 | if( this->nodeRight != NULL) |
---|
[5494] | 935 | this->nodeRight->drawBV(depth - 1, drawMode, Color::HSVtoRGB(Color::RGBtoHSV(color)+Vector(30.0,0.0,0.0)), false); |
---|
[5481] | 936 | } |
---|
| 937 | this->bvElement->bCollided = false; |
---|
[4588] | 938 | |
---|
[5481] | 939 | if (top) |
---|
| 940 | glPopAttrib(); |
---|
[4557] | 941 | } |
---|
[4542] | 942 | |
---|
| 943 | |
---|
[4568] | 944 | |
---|
[4746] | 945 | void OBBTreeNode::debug() const |
---|
[4568] | 946 | { |
---|
[7711] | 947 | PRINT(0)("========OBBTreeNode::debug()=====\n"); |
---|
| 948 | PRINT(0)(" Current depth: %i", this->depth); |
---|
| 949 | PRINT(0)(" "); |
---|
| 950 | PRINT(0)("=================================\n"); |
---|
[4617] | 951 | } |
---|