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source: orxonox.OLD/trunk/src/lib/collision_detection/obb_tree.cc @ 8710

Last change on this file since 8710 was 8316, checked in by bensch, 19 years ago

trunk: fixed most -Wall warnings… but there are still many missing :/

File size: 3.5 KB
RevLine 
[4573]1/*
[4510]2   orxonox - the future of 3D-vertical-scrollers
3
4   Copyright (C) 2004 orx
5
6   This program is free software; you can redistribute it and/or modify
7   it under the terms of the GNU General Public License as published by
8   the Free Software Foundation; either version 2, or (at your option)
9   any later version.
10
11   ### File Specific:
[4511]12   main-programmer: Patrick Boenzli
[4510]13   co-programmer: ...
14*/
15
[7711]16#define DEBUG_SPECIAL_MODULE DEBUG_MODULE_COLLISION_DETECTION
[4510]17
[4511]18#include "obb_tree.h"
[4550]19#include "obb_tree_node.h"
[4531]20#include "obb.h"
[4546]21#include "debug.h"
[4550]22#include "compiler.h"
[4616]23#include "material.h"
[5026]24#include "world_entity.h"
[4700]25#include "p_node.h"
[4510]26
27using namespace std;
28
29
30/**
[4836]31 *  standard constructor
[4510]32*/
[7711]33OBBTree::OBBTree(int depth, const modelInfo* modelInf, WorldEntity* owner)
34  : BVTree()
[4510]35{
[7711]36  this->depth = depth;
[4682]37  this->init();
[7711]38  this->spawnBVTree(*modelInf);
39  this->owner = owner;
[4682]40}
41
42
43
44void OBBTree::init()
45{
[4616]46  this->setClassID(CL_OBB_TREE, "OBBTree");
[5115]47  this->rootNode = NULL;
[4638]48  this->id = 0;
[4510]49}
50
51/**
[4836]52 *  standard deconstructor
[4510]53
54*/
[4573]55OBBTree::~OBBTree ()
[4510]56{
[4814]57  delete this->rootNode;
[4510]58}
[4528]59
60
[7711]61/**
62 *  this function creates a bv tree out of a modelInf structure
63 * @param modelInf the model info of a model (modelInfo), containing vertices, triangle and normal infos
64 */
65void OBBTree::spawnBVTree(const modelInfo& modelInf)
[4531]66{
[4551]67  if( unlikely(this->rootNode != NULL))
[5684]68  {
69    PRINTF(2)("The BVTree has already been spawned, flushing and respawning again...\n");
70    this->flushTree();
71  }
[7711]72  this->rootNode = new OBBTreeNode(*this, NULL, depth-1);
73
74  /* triangles indexes created */
75  int* triangleIndexes = new int[modelInf.numTriangles];
[8316]76  for(unsigned int i = 0; i < modelInf.numTriangles; ++i)
[7711]77    triangleIndexes[i] = i;
78
79  this->rootNode->spawnBVTree(modelInf, triangleIndexes, modelInf.numTriangles);
[5684]80}
81
82
[7711]83/**
84 *  release the current bv tree if any
85 */
[4528]86void OBBTree:: flushTree()
87{}
88
89
[7711]90/**
91 * this collides two bvtrees together. the trees are attached to pnodes Objects A and B
92 * @param nodeA: PNode of object A
93 * @param nodeB: Pnode of object B
94 */
[5026]95void OBBTree::collideWith(WorldEntity* entity1, WorldEntity* entity2)
96{
[5027]97  if( likely(entity2->getOBBTree() != NULL) )
[5028]98    this->rootNode->collideWith(((OBBTree*)entity2->getOBBTree())->getRootNode(), entity1, entity2);
[5026]99}
100
101
102/**
[7711]103 *  draw bv tree
[5026]104 */
[4635]105void OBBTree::drawBV(int depth, int drawMode) const
[4550]106{
107  if( likely(this->rootNode != NULL))
[4581]108  {
[4635]109    this->rootNode->drawBV(depth, drawMode);
[4581]110  }
[4550]111}
[4528]112
113
[7711]114/**
115 *  some debug output and creation function
116 *
117 * doesn't work at the moment
118 */
[4546]119void OBBTree::debug()
120{
121  PRINT(0)("\n==============================| OBBTree::debug() |===\n");
122  PRINT(0)("=  Spawning Tree: Start\n");
[4573]123
[4551]124  /* generate some test vertices */
[4638]125  int const length = 9;
[4589]126  sVec3D* vertList = new sVec3D[length];
[4668]127//   sVec3D data[length]  = {{0.0, 0.0, 0.0},{1.0, 2.0, 5.0},{0.0, 6.0, 9.0},
128//                           {1.0, 4.0, 12.0}, {1.0, 2.0, 16.0}, {0.0, 0.0, 19.0},
129//                           {0.0, 3.0, 23.0}, {1.0, 5.0, 30.0}, {0.0, 10.0, 35.0}};
[4551]130
[4668]131  sVec3D data[length]  = {{0.0, 0.0, 0.0},{1.0, 2.0, 5.0},{1.0, 5.0, 30.0},
132                          {0.0, 3.0, 23.0}, {0.0, 6.0, 9.0}, {0.0, 10.0, 35.0},
133                          {1.0, 4.0, 12.0}, {1.0, 2.0, 16.0}, {0.0, 0.0, 19.0}};
134
[4589]135  for(int i = 0; i < length; ++i)
[4553]136    {
137      vertList[i][0] = data[i][0];
138      vertList[i][1] = data[i][1];
139      vertList[i][2] = data[i][2];
140    }
141
[7711]142//   this->spawnBVTree(vertList, length);
[4551]143
[4546]144  PRINT(0)("=  Spawning Tree: Finished\n");
[4573]145  PRINT(0)("=======================================================\n");
[4546]146
147}
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