[8507] | 1 | /* |
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| 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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| 11 | ### File Specific: |
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| 12 | main-programmer: Patrick Boenzli |
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| 13 | */ |
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| 14 | |
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| 15 | #define DEBUG_SPECIAL_MODULE 3/* DEBUG_MODULE_COLLISION_DETECTION*/ |
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| 16 | |
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| 17 | #include "aabb_tree_node.h" |
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[8508] | 18 | #include "aabb.h" |
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[8507] | 19 | |
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[8508] | 20 | #include "bv_tree.h" |
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| 21 | |
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[8507] | 22 | #include "matrix.h" |
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| 23 | #include "model.h" |
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| 24 | #include "world_entity.h" |
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| 25 | #include "plane.h" |
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| 26 | |
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| 27 | #include "color.h" |
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| 28 | #include "glincl.h" |
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| 29 | |
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| 30 | #include <list> |
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| 31 | #include <vector> |
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| 32 | #include "debug.h" |
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| 33 | |
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| 34 | |
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| 35 | |
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| 36 | |
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| 37 | |
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[9406] | 38 | |
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[8507] | 39 | GLUquadricObj* AABBTreeNode_sphereObj = NULL; |
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| 40 | |
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| 41 | |
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| 42 | /** |
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| 43 | * standard constructor |
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| 44 | * @param tree: reference to the obb tree |
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| 45 | * @param depth: the depth of the obb tree to generate |
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| 46 | */ |
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| 47 | AABBTreeNode::AABBTreeNode (const OBBTree& tree, AABBTreeNode* prev, int depth) |
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| 48 | : BVTreeNode() |
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| 49 | { |
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| 50 | this->setClassID(CL_OBB_TREE_NODE, "AABBTreeNode"); |
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| 51 | |
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| 52 | this->obbTree = &tree; |
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| 53 | this->nodePrev = prev; |
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| 54 | this->depth = depth; |
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| 55 | this->nextID = 0; |
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| 56 | |
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| 57 | this->init(); |
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| 58 | } |
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| 59 | |
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| 60 | |
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| 61 | /** |
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| 62 | * standard constructor |
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| 63 | * @param depth: the depth of the obb tree to generate |
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| 64 | */ |
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| 65 | AABBTreeNode::AABBTreeNode(int depth) |
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| 66 | { |
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| 67 | this->depth = depth; |
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[9494] | 68 | |
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| 69 | this->init(); |
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[8507] | 70 | } |
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| 71 | |
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| 72 | /** |
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| 73 | * init funciton |
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| 74 | */ |
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| 75 | void AABBTreeNode::init() |
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| 76 | { |
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| 77 | this->nodeLeft = NULL; |
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| 78 | this->nodeRight = NULL; |
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| 79 | this->bvElement = NULL; |
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| 80 | |
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| 81 | this->triangleIndexList1 = NULL; |
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| 82 | this->triangleIndexList2 = NULL; |
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| 83 | |
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| 84 | this->modelInf = NULL; |
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| 85 | this->triangleIndexes = NULL; |
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| 86 | |
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| 87 | if( AABBTreeNode_sphereObj == NULL) |
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| 88 | AABBTreeNode_sphereObj = gluNewQuadric(); |
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| 89 | |
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| 90 | this->owner = NULL; |
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| 91 | } |
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| 92 | |
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| 93 | /** |
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| 94 | * standard deconstructor |
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| 95 | */ |
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| 96 | AABBTreeNode::~AABBTreeNode () |
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| 97 | { |
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| 98 | if( this->nodeLeft) |
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| 99 | delete this->nodeLeft; |
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| 100 | if( this->nodeRight) |
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| 101 | delete this->nodeRight; |
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| 102 | |
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| 103 | if( this->bvElement) |
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| 104 | delete this->bvElement; |
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| 105 | } |
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| 106 | |
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| 107 | |
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| 108 | |
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| 109 | void AABBTreeNode::spawnBVTree(Model* model) |
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| 110 | { |
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| 111 | |
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| 112 | const modelInfo* modelInf = model->getModelInfo(); |
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| 113 | |
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| 114 | int* triangleIndexes = new int[modelInf->numTriangles]; |
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| 115 | for(unsigned int i = 0; i < modelInf->numTriangles; ++i) |
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| 116 | triangleIndexes[i] = i; |
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| 117 | |
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| 118 | this->spawnBVTree(*modelInf, triangleIndexes, modelInf->numTriangles); |
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| 119 | } |
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| 120 | |
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| 121 | |
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| 122 | /** |
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| 123 | * creates a new BVTree or BVTree partition |
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| 124 | * @param depth: how much more depth-steps to go: if == 1 don't go any deeper! |
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| 125 | * @param modInfo: model informations from the abstrac model |
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| 126 | * |
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| 127 | * this function creates the Bounding Volume tree from a modelInfo struct and bases its calculations |
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| 128 | * on the triangle informations (triangle soup not polygon soup) |
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| 129 | */ |
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| 130 | void AABBTreeNode::spawnBVTree(const modelInfo& modelInf, const int* triangleIndexes, int length) |
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| 131 | { |
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[8508] | 132 | PRINTF(4)("\n==============================Creating AABB Tree Node==================\n"); |
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| 133 | PRINT(4)(" AABB Tree Infos: \n"); |
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[8507] | 134 | PRINT(4)("\tDepth: %i \n\tTree Index: %i \n\tNumber of Triangles: %i\n", depth, this->treeIndex, length); |
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| 135 | this->depth = depth; |
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| 136 | |
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[8508] | 137 | this->bvElement = new AABB(); |
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[8507] | 138 | this->bvElement->modelInf = &modelInf; |
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| 139 | this->bvElement->triangleIndexes = triangleIndexes; |
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| 140 | this->bvElement->triangleIndexesLength = length; |
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| 141 | |
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| 142 | /* create the bounding boxes in three steps */ |
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| 143 | this->calculateBoxCovariance(*this->bvElement, modelInf, triangleIndexes, length); |
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| 144 | this->calculateBoxEigenvectors(*this->bvElement, modelInf, triangleIndexes, length); |
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| 145 | this->calculateBoxAxis(*this->bvElement, modelInf, triangleIndexes, length); |
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| 146 | |
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| 147 | /* do we need to descent further in the obb tree?*/ |
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| 148 | if( likely( this->depth > 0)) |
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| 149 | { |
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| 150 | this->forkBox(*this->bvElement); |
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| 151 | |
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| 152 | if( this->triangleIndexLength1 >= 3) |
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| 153 | { |
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| 154 | this->nodeLeft = new AABBTreeNode(*this->obbTree, this, depth - 1); |
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| 155 | this->nodeLeft->spawnBVTree(modelInf, this->triangleIndexList1, this->triangleIndexLength1); |
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| 156 | } |
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| 157 | if( this->triangleIndexLength2 >= 3) |
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| 158 | { |
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| 159 | this->nodeRight = new AABBTreeNode(*this->obbTree, this, depth - 1); |
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| 160 | this->nodeRight->spawnBVTree(modelInf, this->triangleIndexList2, this->triangleIndexLength2); |
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| 161 | } |
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| 162 | } |
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| 163 | } |
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| 164 | |
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| 165 | |
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| 166 | |
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| 167 | /** |
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| 168 | * calculate the box covariance matrix |
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| 169 | * @param box: reference to the box |
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| 170 | * @param modelInf: the model info structure of the model |
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| 171 | * @param tirangleIndexes: an array with the indexes of the triangles inside this |
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| 172 | * @param length: the length of the indexes array |
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| 173 | */ |
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[8508] | 174 | void AABBTreeNode::calculateBoxCovariance(AABB& box, const modelInfo& modelInf, const int* triangleIndexes, int length) |
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[8507] | 175 | { |
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| 176 | float facelet[length]; //!< surface area of the i'th triangle of the convex hull |
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| 177 | float face = 0.0f; //!< surface area of the entire convex hull |
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| 178 | Vector centroid[length]; //!< centroid of the i'th convex hull |
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| 179 | Vector center; //!< the center of the entire hull |
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| 180 | Vector p, q, r; //!< holder of the polygon data, much more conveniant to work with Vector than sVec3d |
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| 181 | Vector t1, t2; //!< temporary values |
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| 182 | float covariance[3][3] = {{0,0,0}, {0,0,0}, {0,0,0}};//!< the covariance matrix |
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| 183 | |
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| 184 | /* fist compute all the convex hull face/facelets and centroids */ |
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| 185 | for( int i = 0; i < length ; ++i) |
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| 186 | { |
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| 187 | p = &modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[0]]; |
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| 188 | q = &modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[1]]; |
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| 189 | r = &modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[2]]; |
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| 190 | |
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| 191 | /* finding the facelet surface via cross-product */ |
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| 192 | t1 = p - q; |
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| 193 | t2 = p - r; |
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| 194 | facelet[i] = 0.5f * /*fabs*/( t1.cross(t2).len() ); |
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| 195 | /* update the entire convex hull surface */ |
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| 196 | face += facelet[i]; |
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| 197 | |
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| 198 | /* calculate the cetroid of the hull triangles */ |
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| 199 | centroid[i] = (p + q + r) / 3.0f; |
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| 200 | /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */ |
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| 201 | center += centroid[i] * facelet[i]; |
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| 202 | /* the arithmetical center */ |
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| 203 | } |
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| 204 | /* take the average of the centroid sum */ |
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| 205 | center /= face; |
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| 206 | |
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| 207 | |
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| 208 | /* now calculate the covariance matrix - if not written in three for-loops, |
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| 209 | it would compute faster: minor */ |
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| 210 | for( int j = 0; j < 3; ++j) |
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| 211 | { |
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| 212 | for( int k = 0; k < 3; ++k) |
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| 213 | { |
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| 214 | for( int i = 0; i < length; ++i) |
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| 215 | { |
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| 216 | p = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[0]]); |
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| 217 | q = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[1]]); |
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| 218 | r = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[2]]); |
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| 219 | |
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| 220 | covariance[j][k] = facelet[i] * (9.0f * centroid[i][j] * centroid[i][k] + p[j] * p[k] + |
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| 221 | q[j] * q[k] + r[j] * r[k]); |
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| 222 | } |
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| 223 | covariance[j][k] = covariance[j][k] / (12.0f * face) - center[j] * center[k]; |
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| 224 | } |
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| 225 | } |
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| 226 | for( int i = 0; i < 3; ++i) |
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| 227 | { |
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| 228 | box.covarianceMatrix[i][0] = covariance[i][0]; |
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| 229 | box.covarianceMatrix[i][1] = covariance[i][1]; |
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| 230 | box.covarianceMatrix[i][2] = covariance[i][2]; |
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| 231 | } |
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| 232 | box.center = center; |
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| 233 | |
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| 234 | /* debug output section*/ |
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| 235 | PRINTF(4)("\nOBB Covariance Matrix:\n"); |
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| 236 | for(int j = 0; j < 3; ++j) |
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| 237 | { |
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| 238 | PRINT(4)("\t\t"); |
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| 239 | for(int k = 0; k < 3; ++k) |
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| 240 | { |
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| 241 | PRINT(4)("%11.4f\t", covariance[j][k]); |
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| 242 | } |
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| 243 | PRINT(4)("\n"); |
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| 244 | } |
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[8508] | 245 | PRINTF(4)("\nWeighteed AABB Center:\n\t\t%11.4f\t %11.4f\t %11.4f\n", center.x, center.y, center.z); |
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[8507] | 246 | } |
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| 247 | |
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| 248 | |
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| 249 | |
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| 250 | /** |
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| 251 | * calculate the eigenvectors for the object oriented box |
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| 252 | * @param box: reference to the box |
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| 253 | * @param modelInf: the model info structure of the model |
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| 254 | * @param tirangleIndexes: an array with the indexes of the triangles inside this |
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| 255 | * @param length: the length of the indexes array |
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| 256 | */ |
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[8508] | 257 | void AABBTreeNode::calculateBoxEigenvectors(AABB& box, const modelInfo& modelInf, |
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[8507] | 258 | const int* triangleIndexes, int length) |
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| 259 | { |
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| 260 | Matrix covMat( box.covarianceMatrix ); //!< covariance matrix (in the matrix dataform) |
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| 261 | |
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| 262 | /* |
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| 263 | now getting spanning vectors of the sub-space: |
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| 264 | the eigenvectors of a symmertric matrix, such as the |
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| 265 | covarience matrix are mutually orthogonal. |
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| 266 | after normalizing them, they can be used as a the basis |
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| 267 | vectors |
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| 268 | */ |
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| 269 | |
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| 270 | |
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| 271 | // this is for axis aligned bouning boxes only |
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| 272 | box.axis[0] = Vector(1,0,0); |
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| 273 | box.axis[1] = Vector(0,1,0); |
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| 274 | box.axis[2] = Vector(0,0,1); |
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| 275 | |
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| 276 | PRINTF(4)("Eigenvectors:\n"); |
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| 277 | 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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| 278 | 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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| 279 | 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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| 280 | } |
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| 281 | |
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| 282 | |
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| 283 | |
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| 284 | |
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| 285 | /** |
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| 286 | * calculate the eigenvectors for the object oriented box |
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| 287 | * @param box: reference to the box |
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| 288 | * @param modelInf: the model info structure of the model |
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| 289 | * @param tirangleIndexes: an array with the indexes of the triangles inside this |
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| 290 | * @param length: the length of the indexes array |
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| 291 | */ |
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[8508] | 292 | void AABBTreeNode::calculateBoxAxis(AABB& box, const modelInfo& modelInf, const int* triangleIndexes, int length) |
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[8507] | 293 | { |
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| 294 | |
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| 295 | PRINTF(4)("Calculate Box Axis\n"); |
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| 296 | /* now get the axis length */ |
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| 297 | float tmpLength; //!< tmp save point for the length |
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| 298 | Plane p0(box.axis[0], box.center); //!< the axis planes |
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| 299 | Plane p1(box.axis[1], box.center); //!< the axis planes |
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| 300 | Plane p2(box.axis[2], box.center); //!< the axis planes |
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| 301 | float maxLength[3]; //!< maximal lenth of the axis |
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| 302 | float minLength[3]; //!< minimal length of the axis |
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| 303 | const float* tmpVec; //!< variable taking tmp vectors |
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| 304 | float centerOffset[3]; |
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| 305 | |
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| 306 | /* get the maximal dimensions of the body in all directions */ |
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| 307 | /* for the initialisation the value just has to be inside of the polygon soup -> first vertices (rand) */ |
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| 308 | for( int k = 0; k < 3; k++) |
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| 309 | { |
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| 310 | tmpVec = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[0]].indexToVertices[0]]); |
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| 311 | Plane* p; |
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| 312 | if( k == 0) |
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| 313 | p = &p0; |
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| 314 | else if( k == 1) |
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| 315 | p = &p1; |
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| 316 | else |
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| 317 | p = &p2; |
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| 318 | maxLength[k] = p->distancePoint(tmpVec); |
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| 319 | minLength[k] = p->distancePoint(tmpVec); |
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| 320 | |
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| 321 | for( int j = 0; j < length; ++j) { |
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| 322 | for( int i = 0; i < 3; ++i) { |
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| 323 | tmpVec = &modelInf.pVertices[modelInf.pTriangles[triangleIndexes[j]].indexToVertices[i]]; |
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| 324 | tmpLength = p->distancePoint(tmpVec); |
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| 325 | |
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| 326 | if( tmpLength > maxLength[k]) |
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| 327 | maxLength[k] = tmpLength; |
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| 328 | else if( tmpLength < minLength[k]) |
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| 329 | minLength[k] = tmpLength; |
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| 330 | } |
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| 331 | } |
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| 332 | } |
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| 333 | |
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| 334 | |
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| 335 | |
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| 336 | /* calculate the real centre of the body by using the axis length */ |
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| 337 | for( int i = 0; i < 3; ++i) |
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| 338 | { |
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| 339 | if( maxLength[i] > 0.0f && minLength[i] > 0.0f) // both axis positiv |
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| 340 | centerOffset[i] = minLength[i] + (maxLength[i] - minLength[i]) / 2.0f; |
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| 341 | else if( maxLength[i] > 0.0f && maxLength[i] < 0.0f) // positiv and negativ |
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| 342 | centerOffset[i] = (maxLength[i] + minLength[i]) / 2.0f; |
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| 343 | else //both negativ |
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| 344 | centerOffset[i] = minLength[i] + (maxLength[i] - minLength[i]) / 2.0f; |
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| 345 | |
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| 346 | box.halfLength[i] = (maxLength[i] - minLength[i]) / 2.0f; |
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| 347 | } |
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| 348 | |
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| 349 | box.center += (box.axis[0] * centerOffset[0]); |
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| 350 | box.center += (box.axis[1] * centerOffset[1]); |
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| 351 | box.center += (box.axis[2] * centerOffset[2]); |
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| 352 | |
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| 353 | |
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| 354 | PRINTF(4)("\n"); |
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| 355 | 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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| 356 | 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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| 357 | 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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| 358 | } |
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| 359 | |
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| 360 | |
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| 361 | |
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| 362 | /** |
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| 363 | * this separates an ob-box in the middle |
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| 364 | * @param box: the box to separate |
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| 365 | * |
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| 366 | * this will separate the box into to smaller boxes. the separation is done along the middle of the longest axis |
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| 367 | */ |
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[8508] | 368 | void AABBTreeNode::forkBox(AABB& box) |
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[8507] | 369 | { |
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| 370 | |
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| 371 | PRINTF(4)("Fork Box\n"); |
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| 372 | PRINTF(4)("Calculating the longest Axis\n"); |
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| 373 | /* get the longest axis of the box */ |
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| 374 | float longestAxis = -1.0f; //!< the length of the longest axis |
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| 375 | int longestAxisIndex = 0; //!< this is the nr of the longest axis |
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| 376 | |
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| 377 | |
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| 378 | /* now get the longest axis of the three exiting */ |
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| 379 | for( int i = 0; i < 3; ++i) |
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| 380 | { |
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| 381 | if( longestAxis < box.halfLength[i]) |
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| 382 | { |
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| 383 | longestAxis = box.halfLength[i]; |
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| 384 | longestAxisIndex = i; |
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| 385 | } |
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| 386 | } |
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| 387 | PRINTF(4)("\nLongest Axis is: Nr %i with a half-length of:%11.2f\n", longestAxisIndex, longestAxis); |
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| 388 | |
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| 389 | |
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| 390 | PRINTF(4)("Separating along the longest axis\n"); |
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| 391 | /* get the closest vertex near the center */ |
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| 392 | float tmpDist; //!< variable to save diverse distances temporarily |
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| 393 | Plane middlePlane(box.axis[longestAxisIndex], box.center); //!< the middle plane |
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| 394 | |
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| 395 | |
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| 396 | /* now definin the separation plane through this specified nearest point and partition |
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| 397 | the points depending on which side they are located |
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| 398 | */ |
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| 399 | std::list<int> partition1; //!< the vertex partition 1 |
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| 400 | std::list<int> partition2; //!< the vertex partition 2 |
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| 401 | float* triangleCenter = new float[3]; //!< the center of the triangle |
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| 402 | const float* a; //!< triangle edge a |
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| 403 | const float* b; //!< triangle edge b |
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| 404 | const float* c; //!< triangle edge c |
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| 405 | |
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| 406 | |
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| 407 | /* find the center of the box */ |
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| 408 | this->separationPlane = Plane(box.axis[longestAxisIndex], box.center); |
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| 409 | this->sepPlaneCenter[0] = box.center.x; |
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| 410 | this->sepPlaneCenter[1] = box.center.y; |
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| 411 | this->sepPlaneCenter[2] = box.center.z; |
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| 412 | this->longestAxisIndex = longestAxisIndex; |
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| 413 | |
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| 414 | for( int i = 0; i < box.triangleIndexesLength; ++i) |
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| 415 | { |
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| 416 | /* first calculate the middle of the triangle */ |
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| 417 | a = &box.modelInf->pVertices[box.modelInf->pTriangles[box.triangleIndexes[i]].indexToVertices[0]]; |
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| 418 | b = &box.modelInf->pVertices[box.modelInf->pTriangles[box.triangleIndexes[i]].indexToVertices[1]]; |
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| 419 | c = &box.modelInf->pVertices[box.modelInf->pTriangles[box.triangleIndexes[i]].indexToVertices[2]]; |
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| 420 | |
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| 421 | triangleCenter[0] = (a[0] + b[0] + c[0]) / 3.0f; |
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| 422 | triangleCenter[1] = (a[1] + b[1] + c[1]) / 3.0f; |
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| 423 | triangleCenter[2] = (a[2] + b[2] + c[2]) / 3.0f; |
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| 424 | tmpDist = this->separationPlane.distancePoint(*((sVec3D*)triangleCenter)); |
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| 425 | |
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| 426 | if( tmpDist > 0.0f) |
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| 427 | partition1.push_back(box.triangleIndexes[i]); /* positive numbers plus zero */ |
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| 428 | else if( tmpDist < 0.0f) |
---|
| 429 | partition2.push_back(box.triangleIndexes[i]); /* negatice numbers */ |
---|
| 430 | else { |
---|
| 431 | partition1.push_back(box.triangleIndexes[i]); /* 0.0f? unprobable... */ |
---|
| 432 | partition2.push_back(box.triangleIndexes[i]); |
---|
| 433 | } |
---|
| 434 | } |
---|
| 435 | PRINTF(4)("\nPartition1: got \t%i Vertices \nPartition2: got \t%i Vertices\n", partition1.size(), partition2.size()); |
---|
| 436 | |
---|
| 437 | |
---|
| 438 | /* now comes the separation into two different sVec3D arrays */ |
---|
| 439 | int index; //!< index storage place |
---|
| 440 | int* triangleIndexList1; //!< the vertex list 1 |
---|
| 441 | int* triangleIndexList2; //!< the vertex list 2 |
---|
| 442 | std::list<int>::iterator element; //!< the list iterator |
---|
| 443 | |
---|
| 444 | triangleIndexList1 = new int[partition1.size()]; |
---|
| 445 | triangleIndexList2 = new int[partition2.size()]; |
---|
| 446 | |
---|
| 447 | for( element = partition1.begin(), index = 0; element != partition1.end(); element++, index++) |
---|
| 448 | triangleIndexList1[index] = (*element); |
---|
| 449 | |
---|
| 450 | for( element = partition2.begin(), index = 0; element != partition2.end(); element++, index++) |
---|
| 451 | triangleIndexList2[index] = (*element); |
---|
| 452 | |
---|
| 453 | if( this->triangleIndexList1!= NULL) |
---|
| 454 | delete[] this->triangleIndexList1; |
---|
| 455 | this->triangleIndexList1 = triangleIndexList1; |
---|
| 456 | this->triangleIndexLength1 = partition1.size(); |
---|
| 457 | |
---|
| 458 | if( this->triangleIndexList2 != NULL) |
---|
| 459 | delete[] this->triangleIndexList2; |
---|
| 460 | this->triangleIndexList2 = triangleIndexList2; |
---|
| 461 | this->triangleIndexLength2 = partition2.size(); |
---|
| 462 | } |
---|
| 463 | |
---|
| 464 | |
---|
| 465 | |
---|
| 466 | /** |
---|
| 467 | * collides one tree with an other |
---|
| 468 | * @param treeNode the other bv tree node |
---|
| 469 | * @param nodeA the worldentity belonging to this bv |
---|
| 470 | * @param nodeB the worldentity belonging to treeNode |
---|
| 471 | */ |
---|
| 472 | void AABBTreeNode::collideWith(BVTreeNode* treeNode, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
| 473 | { |
---|
| 474 | if( unlikely(treeNode == NULL || nodeA == NULL || nodeB == NULL)) |
---|
| 475 | return; |
---|
| 476 | |
---|
| 477 | PRINTF(4)("collideWith\n"); |
---|
[8508] | 478 | PRINTF(5)("Checking AABB %i vs %i: ", this->getIndex(), treeNode->getIndex()); |
---|
[8507] | 479 | |
---|
| 480 | // for now only collide with AABBTreeNodes |
---|
| 481 | this->collideWithOBB((AABBTreeNode*)treeNode, nodeA, nodeB); |
---|
| 482 | } |
---|
| 483 | |
---|
| 484 | |
---|
| 485 | |
---|
| 486 | /** |
---|
| 487 | * collides one obb tree with an other |
---|
| 488 | * @param treeNode the other bv tree node |
---|
| 489 | * @param nodeA the worldentity belonging to this bv |
---|
| 490 | * @param nodeB the worldentity belonging to treeNode |
---|
| 491 | */ |
---|
| 492 | void AABBTreeNode::collideWithOBB(AABBTreeNode* treeNode, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
| 493 | { |
---|
| 494 | |
---|
| 495 | if( this->overlapTest(this->bvElement, treeNode->bvElement, nodeA, nodeB)) |
---|
| 496 | { |
---|
[9406] | 497 | PRINTF(5)("collision @ lvl %i, object %s::%s vs. %s::%s, (%p, %p)\n", this->depth, nodeA->getClassCName(), nodeA->getCName(), nodeB->getClassCName(), nodeA->getCName(), this->nodeLeft, this->nodeRight); |
---|
[8507] | 498 | |
---|
| 499 | |
---|
| 500 | // left node |
---|
| 501 | if( this->nodeLeft != NULL ) |
---|
| 502 | { |
---|
| 503 | if( this->overlapTest(this->nodeLeft->bvElement, treeNode->bvElement, nodeA, nodeB)) |
---|
| 504 | { |
---|
| 505 | if( treeNode->nodeLeft != NULL) |
---|
| 506 | this->nodeLeft->collideWith(treeNode->nodeLeft, nodeA, nodeB); |
---|
| 507 | if( treeNode->nodeRight != NULL) |
---|
| 508 | this->nodeLeft->collideWith(treeNode->nodeRight, nodeA, nodeB); |
---|
| 509 | } |
---|
| 510 | } |
---|
| 511 | |
---|
| 512 | // right node |
---|
| 513 | if( this->nodeRight != NULL ) |
---|
| 514 | { |
---|
| 515 | if( this->overlapTest(this->nodeRight->bvElement, treeNode->bvElement, nodeA, nodeB)) |
---|
| 516 | { |
---|
| 517 | if( treeNode->nodeLeft != NULL) |
---|
| 518 | this->nodeRight->collideWith(treeNode->nodeLeft, nodeA, nodeB); |
---|
| 519 | if( treeNode->nodeRight != NULL) |
---|
| 520 | this->nodeRight->collideWith(treeNode->nodeRight, nodeA, nodeB); |
---|
| 521 | } |
---|
| 522 | } |
---|
| 523 | |
---|
| 524 | |
---|
| 525 | // hybrid mode: we reached the end of this obbtree, now reach the end of the other tree |
---|
| 526 | if( this->nodeLeft == NULL && this->nodeRight == NULL) |
---|
| 527 | { |
---|
| 528 | if( treeNode->nodeLeft != NULL) |
---|
| 529 | this->collideWith(treeNode->nodeLeft, nodeA, nodeB); |
---|
| 530 | if( treeNode->nodeRight != NULL) |
---|
| 531 | this->collideWith(treeNode->nodeRight, nodeA, nodeB); |
---|
| 532 | } |
---|
| 533 | |
---|
| 534 | |
---|
| 535 | // now check if we reached the end of both trees |
---|
| 536 | if( unlikely((this->nodeRight == NULL && this->nodeLeft == NULL) && |
---|
| 537 | (treeNode->nodeRight == NULL && treeNode->nodeLeft == NULL)) ) |
---|
| 538 | { |
---|
| 539 | nodeA->registerCollision(nodeA, nodeB, (BoundingVolume*)this->bvElement, (BoundingVolume*)treeNode->bvElement); |
---|
| 540 | } |
---|
| 541 | |
---|
| 542 | } |
---|
| 543 | } |
---|
| 544 | |
---|
| 545 | |
---|
| 546 | /** |
---|
| 547 | * this actualy checks if one obb box touches the other |
---|
| 548 | * @param boxA the box from nodeA |
---|
| 549 | * @param boxB the box from nodeB |
---|
| 550 | * @param nodeA the node itself |
---|
| 551 | * @param nodeB the node itself |
---|
| 552 | */ |
---|
[8508] | 553 | bool AABBTreeNode::overlapTest(AABB* boxA, AABB* boxB, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
[8507] | 554 | { |
---|
| 555 | //HACK remove this again |
---|
| 556 | this->owner = nodeA; |
---|
| 557 | // if( boxB == NULL || boxA == NULL) |
---|
| 558 | // return false; |
---|
| 559 | |
---|
| 560 | /* first check all axis */ |
---|
| 561 | Vector t; |
---|
| 562 | float rA = 0.0f; |
---|
| 563 | float rB = 0.0f; |
---|
| 564 | Vector l; |
---|
| 565 | Vector rotAxisA[3]; |
---|
| 566 | Vector rotAxisB[3]; |
---|
| 567 | |
---|
| 568 | rotAxisA[0] = nodeA->getAbsDir().apply(boxA->axis[0]); |
---|
| 569 | rotAxisA[1] = nodeA->getAbsDir().apply(boxA->axis[1]); |
---|
| 570 | rotAxisA[2] = nodeA->getAbsDir().apply(boxA->axis[2]); |
---|
| 571 | |
---|
| 572 | rotAxisB[0] = nodeB->getAbsDir().apply(boxB->axis[0]); |
---|
| 573 | rotAxisB[1] = nodeB->getAbsDir().apply(boxB->axis[1]); |
---|
| 574 | rotAxisB[2] = nodeB->getAbsDir().apply(boxB->axis[2]); |
---|
| 575 | |
---|
| 576 | t = nodeA->getAbsCoor() + nodeA->getAbsDir().apply(boxA->center) - ( nodeB->getAbsCoor() + nodeB->getAbsDir().apply(boxB->center)); |
---|
| 577 | |
---|
| 578 | /* All 3 axis of the object A */ |
---|
| 579 | for( int j = 0; j < 3; ++j) |
---|
| 580 | { |
---|
| 581 | rA = 0.0f; |
---|
| 582 | rB = 0.0f; |
---|
| 583 | l = rotAxisA[j]; |
---|
| 584 | |
---|
| 585 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 586 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 587 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
| 588 | |
---|
| 589 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 590 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 591 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
| 592 | |
---|
| 593 | PRINTF(5)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
| 594 | |
---|
| 595 | if( (rA + rB) < fabs(t.dot(l))) |
---|
| 596 | { |
---|
| 597 | PRINTF(4)("no Collision\n"); |
---|
| 598 | return false; |
---|
| 599 | } |
---|
| 600 | } |
---|
| 601 | |
---|
| 602 | /* All 3 axis of the object B */ |
---|
| 603 | for( int j = 0; j < 3; ++j) |
---|
| 604 | { |
---|
| 605 | rA = 0.0f; |
---|
| 606 | rB = 0.0f; |
---|
| 607 | l = rotAxisB[j]; |
---|
| 608 | |
---|
| 609 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 610 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 611 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
| 612 | |
---|
| 613 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 614 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 615 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
| 616 | |
---|
| 617 | PRINTF(5)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
| 618 | |
---|
| 619 | if( (rA + rB) < fabs(t.dot(l))) |
---|
| 620 | { |
---|
| 621 | PRINTF(4)("no Collision\n"); |
---|
| 622 | return false; |
---|
| 623 | } |
---|
| 624 | } |
---|
| 625 | |
---|
| 626 | |
---|
| 627 | /* Now check for all face cross products */ |
---|
| 628 | |
---|
| 629 | for( int j = 0; j < 3; ++j) |
---|
| 630 | { |
---|
| 631 | for(int k = 0; k < 3; ++k ) |
---|
| 632 | { |
---|
| 633 | rA = 0.0f; |
---|
| 634 | rB = 0.0f; |
---|
| 635 | l = rotAxisA[j].cross(rotAxisB[k]); |
---|
| 636 | |
---|
| 637 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 638 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 639 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
| 640 | |
---|
| 641 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 642 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 643 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
| 644 | |
---|
| 645 | PRINTF(5)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
| 646 | |
---|
| 647 | if( (rA + rB) < fabs(t.dot(l))) |
---|
| 648 | { |
---|
| 649 | PRINTF(4)("keine Kollision\n"); |
---|
| 650 | return false; |
---|
| 651 | } |
---|
| 652 | } |
---|
| 653 | } |
---|
| 654 | |
---|
| 655 | /* FIXME: there is no collision mark set now */ |
---|
| 656 | boxA->bCollided = true; /* use this ONLY(!!!!) for drawing operations */ |
---|
| 657 | boxB->bCollided = true; |
---|
| 658 | |
---|
| 659 | |
---|
| 660 | PRINTF(4)("Kollision!\n"); |
---|
| 661 | return true; |
---|
| 662 | } |
---|
| 663 | |
---|
| 664 | |
---|
| 665 | /** |
---|
| 666 | * |
---|
| 667 | * draw the BV tree - debug mode |
---|
| 668 | */ |
---|
| 669 | void AABBTreeNode::drawBV(int depth, int drawMode, const Vector& color, bool top) const |
---|
| 670 | { |
---|
| 671 | /* this function can be used to draw the triangles and/or the points only */ |
---|
| 672 | if( 1 /*drawMode & DRAW_MODEL || drawMode & DRAW_ALL*/) |
---|
| 673 | { |
---|
| 674 | if( depth == 0/*!(drawMode & DRAW_SINGLE && depth != 0)*/) |
---|
| 675 | { |
---|
| 676 | if( 1 /*drawMode & DRAW_POINTS*/) |
---|
| 677 | { |
---|
| 678 | glBegin(GL_POINTS); |
---|
| 679 | glColor3f(0.3, 0.8, 0.54); |
---|
| 680 | for(unsigned int i = 0; i < this->bvElement->modelInf->numVertices*3; i+=3) |
---|
| 681 | glVertex3f(this->bvElement->modelInf->pVertices[i], |
---|
| 682 | this->bvElement->modelInf->pVertices[i+1], |
---|
| 683 | this->bvElement->modelInf->pVertices[i+2]); |
---|
| 684 | glEnd(); |
---|
| 685 | } |
---|
| 686 | } |
---|
| 687 | } |
---|
| 688 | |
---|
| 689 | if (top) |
---|
| 690 | { |
---|
| 691 | glPushAttrib(GL_ENABLE_BIT); |
---|
| 692 | glDisable(GL_LIGHTING); |
---|
| 693 | glDisable(GL_TEXTURE_2D); |
---|
| 694 | } |
---|
| 695 | glColor3f(color.x, color.y, color.z); |
---|
| 696 | |
---|
| 697 | |
---|
| 698 | /* draw world axes */ |
---|
| 699 | if( 1 /*drawMode & DRAW_BV_AXIS*/) |
---|
| 700 | { |
---|
| 701 | glBegin(GL_LINES); |
---|
| 702 | glColor3f(1.0, 0.0, 0.0); |
---|
| 703 | glVertex3f(0.0, 0.0, 0.0); |
---|
| 704 | glVertex3f(3.0, 0.0, 0.0); |
---|
| 705 | |
---|
| 706 | glColor3f(0.0, 1.0, 0.0); |
---|
| 707 | glVertex3f(0.0, 0.0, 0.0); |
---|
| 708 | glVertex3f(0.0, 3.0, 0.0); |
---|
| 709 | |
---|
| 710 | glColor3f(0.0, 0.0, 1.0); |
---|
| 711 | glVertex3f(0.0, 0.0, 0.0); |
---|
| 712 | glVertex3f(0.0, 0.0, 3.0); |
---|
| 713 | glEnd(); |
---|
| 714 | } |
---|
| 715 | |
---|
| 716 | |
---|
| 717 | if( 1/*drawMode & DRAW_BV_AXIS || drawMode & DRAW_ALL*/) |
---|
| 718 | { |
---|
| 719 | if( 1/*drawMode & DRAW_SINGLE && depth != 0*/) |
---|
| 720 | { |
---|
| 721 | /* draw the obb axes */ |
---|
| 722 | glBegin(GL_LINES); |
---|
| 723 | glColor3f(1.0, 0.0, 0.0); |
---|
| 724 | glVertex3f(this->bvElement->center.x, this->bvElement->center.y, this->bvElement->center.z); |
---|
| 725 | glVertex3f(this->bvElement->center.x + this->bvElement->axis[0].x * this->bvElement->halfLength[0], |
---|
| 726 | this->bvElement->center.y + this->bvElement->axis[0].y * this->bvElement->halfLength[0], |
---|
| 727 | this->bvElement->center.z + this->bvElement->axis[0].z * this->bvElement->halfLength[0]); |
---|
| 728 | |
---|
| 729 | glColor3f(0.0, 1.0, 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[1].x * this->bvElement->halfLength[1], |
---|
| 732 | this->bvElement->center.y + this->bvElement->axis[1].y * this->bvElement->halfLength[1], |
---|
| 733 | this->bvElement->center.z + this->bvElement->axis[1].z * this->bvElement->halfLength[1]); |
---|
| 734 | |
---|
| 735 | glColor3f(0.0, 0.0, 1.0); |
---|
| 736 | glVertex3f(this->bvElement->center.x, this->bvElement->center.y, this->bvElement->center.z); |
---|
| 737 | glVertex3f(this->bvElement->center.x + this->bvElement->axis[2].x * this->bvElement->halfLength[2], |
---|
| 738 | this->bvElement->center.y + this->bvElement->axis[2].y * this->bvElement->halfLength[2], |
---|
| 739 | this->bvElement->center.z + this->bvElement->axis[2].z * this->bvElement->halfLength[2]); |
---|
| 740 | glEnd(); |
---|
| 741 | } |
---|
| 742 | } |
---|
| 743 | |
---|
| 744 | |
---|
| 745 | /* DRAW POLYGONS */ |
---|
| 746 | if( drawMode & DRAW_BV_POLYGON || drawMode & DRAW_ALL || drawMode & DRAW_BV_BLENDED) |
---|
| 747 | { |
---|
| 748 | if (top) |
---|
| 749 | { |
---|
| 750 | glEnable(GL_BLEND); |
---|
| 751 | glBlendFunc(GL_SRC_ALPHA, GL_ONE); |
---|
| 752 | } |
---|
| 753 | |
---|
| 754 | if( this->nodeLeft == NULL && this->nodeRight == NULL) |
---|
| 755 | depth = 0; |
---|
| 756 | |
---|
| 757 | if( depth == 0 /*!(drawMode & DRAW_SINGLE && depth != 0)*/) |
---|
| 758 | { |
---|
| 759 | |
---|
| 760 | |
---|
| 761 | Vector cen = this->bvElement->center; |
---|
| 762 | Vector* axis = this->bvElement->axis; |
---|
| 763 | float* len = this->bvElement->halfLength; |
---|
| 764 | |
---|
| 765 | if( this->bvElement->bCollided) |
---|
| 766 | { |
---|
| 767 | glColor4f(1.0, 1.0, 1.0, .5); // COLLISION COLOR |
---|
| 768 | } |
---|
| 769 | else if( drawMode & DRAW_BV_BLENDED) |
---|
| 770 | { |
---|
| 771 | glColor4f(color.x, color.y, color.z, .5); |
---|
| 772 | } |
---|
| 773 | |
---|
| 774 | |
---|
| 775 | /* draw bounding box */ |
---|
| 776 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 777 | glBegin(GL_QUADS); |
---|
| 778 | else |
---|
| 779 | glBegin(GL_LINE_LOOP); |
---|
| 780 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 781 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 782 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 783 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 784 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 785 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 786 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 787 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 788 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 789 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 790 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 791 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 792 | glEnd(); |
---|
| 793 | |
---|
| 794 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 795 | glBegin(GL_QUADS); |
---|
| 796 | else |
---|
| 797 | glBegin(GL_LINE_LOOP); |
---|
| 798 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 799 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 800 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 801 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 802 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 803 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 804 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 805 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 806 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 807 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 808 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 809 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 810 | glEnd(); |
---|
| 811 | |
---|
| 812 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 813 | glBegin(GL_QUADS); |
---|
| 814 | else |
---|
| 815 | glBegin(GL_LINE_LOOP); |
---|
| 816 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 817 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 818 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 819 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 820 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 821 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 822 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 823 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 824 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 825 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 826 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 827 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 828 | glEnd(); |
---|
| 829 | |
---|
| 830 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 831 | glBegin(GL_QUADS); |
---|
| 832 | else |
---|
| 833 | glBegin(GL_LINE_LOOP); |
---|
| 834 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 835 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 836 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 837 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 838 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 839 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 840 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 841 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 842 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 843 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 844 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 845 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 846 | glEnd(); |
---|
| 847 | |
---|
| 848 | |
---|
| 849 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 850 | { |
---|
| 851 | glBegin(GL_QUADS); |
---|
| 852 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 853 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 854 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 855 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 856 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 857 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 858 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 859 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 860 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 861 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 862 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 863 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 864 | glEnd(); |
---|
| 865 | |
---|
| 866 | glBegin(GL_QUADS); |
---|
| 867 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 868 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 869 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 870 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 871 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 872 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 873 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 874 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 875 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 876 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 877 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 878 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 879 | glEnd(); |
---|
| 880 | } |
---|
| 881 | |
---|
| 882 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 883 | glColor3f(color.x, color.y, color.z); |
---|
| 884 | } |
---|
| 885 | } |
---|
| 886 | |
---|
| 887 | /* DRAW SEPARATING PLANE */ |
---|
| 888 | if( drawMode & DRAW_SEPARATING_PLANE || drawMode & DRAW_ALL) |
---|
| 889 | { |
---|
| 890 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
| 891 | { |
---|
| 892 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 893 | glColor4f(color.x, color.y, color.z, .6); |
---|
| 894 | |
---|
| 895 | /* now draw the separation plane */ |
---|
| 896 | Vector a1 = this->bvElement->axis[(this->longestAxisIndex + 1)%3]; |
---|
| 897 | Vector a2 = this->bvElement->axis[(this->longestAxisIndex + 2)%3]; |
---|
| 898 | Vector c = this->bvElement->center; |
---|
| 899 | float l1 = this->bvElement->halfLength[(this->longestAxisIndex + 1)%3]; |
---|
| 900 | float l2 = this->bvElement->halfLength[(this->longestAxisIndex + 2)%3]; |
---|
| 901 | glBegin(GL_QUADS); |
---|
| 902 | 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); |
---|
| 903 | 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); |
---|
| 904 | 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); |
---|
| 905 | 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); |
---|
| 906 | glEnd(); |
---|
| 907 | |
---|
| 908 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 909 | glColor4f(color.x, color.y, color.z, 1.0); |
---|
| 910 | |
---|
| 911 | } |
---|
| 912 | } |
---|
| 913 | |
---|
| 914 | |
---|
| 915 | |
---|
| 916 | if (depth > 0) |
---|
| 917 | { |
---|
| 918 | if( this->nodeLeft != NULL) |
---|
| 919 | this->nodeLeft->drawBV(depth - 1, drawMode, Color::HSVtoRGB(Color::RGBtoHSV(color)+Vector(15.0,0.0,0.0)), false); |
---|
| 920 | if( this->nodeRight != NULL) |
---|
| 921 | this->nodeRight->drawBV(depth - 1, drawMode, Color::HSVtoRGB(Color::RGBtoHSV(color)+Vector(30.0,0.0,0.0)), false); |
---|
| 922 | } |
---|
| 923 | this->bvElement->bCollided = false; |
---|
| 924 | |
---|
| 925 | if (top) |
---|
| 926 | glPopAttrib(); |
---|
| 927 | } |
---|
| 928 | |
---|
| 929 | |
---|
| 930 | |
---|
| 931 | void AABBTreeNode::debug() const |
---|
| 932 | { |
---|
| 933 | PRINT(0)("========AABBTreeNode::debug()=====\n"); |
---|
| 934 | PRINT(0)(" Current depth: %i", this->depth); |
---|
| 935 | PRINT(0)(" "); |
---|
| 936 | PRINT(0)("=================================\n"); |
---|
| 937 | } |
---|