[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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[7734] | 366 | PRINTF(4)("\nLongest Axis is: Nr %i with a half-length of:%11.2f\n", longestAxisIndex, longestAxis); |
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[4588] | 367 | |
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[4609] | 368 | |
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[7711] | 369 | PRINTF(4)("Separating along the longest axis\n"); |
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[4557] | 370 | /* get the closest vertex near the center */ |
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[7711] | 371 | float tmpDist; //!< variable to save diverse distances temporarily |
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| 372 | Plane middlePlane(box.axis[longestAxisIndex], box.center); //!< the middle plane |
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[4588] | 373 | |
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[4609] | 374 | |
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[4611] | 375 | /* now definin the separation plane through this specified nearest point and partition |
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[4617] | 376 | the points depending on which side they are located |
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[4611] | 377 | */ |
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[7711] | 378 | std::list<int> partition1; //!< the vertex partition 1 |
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| 379 | std::list<int> partition2; //!< the vertex partition 2 |
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| 380 | float* triangleCenter = new float[3]; //!< the center of the triangle |
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| 381 | const float* a; //!< triangle edge a |
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| 382 | const float* b; //!< triangle edge b |
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| 383 | const float* c; //!< triangle edge c |
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[4611] | 384 | |
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[4710] | 385 | |
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[7711] | 386 | /* find the center of the box */ |
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| 387 | this->separationPlane = Plane(box.axis[longestAxisIndex], box.center); |
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| 388 | this->sepPlaneCenter[0] = box.center.x; |
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| 389 | this->sepPlaneCenter[1] = box.center.y; |
---|
| 390 | this->sepPlaneCenter[2] = box.center.z; |
---|
| 391 | this->longestAxisIndex = longestAxisIndex; |
---|
[4632] | 392 | |
---|
[7711] | 393 | for( int i = 0; i < box.triangleIndexesLength; ++i) |
---|
[4612] | 394 | { |
---|
[7711] | 395 | /* first calculate the middle of the triangle */ |
---|
| 396 | a = &box.modelInf->pVertices[box.modelInf->pTriangles[box.triangleIndexes[i]].indexToVertices[0]]; |
---|
| 397 | b = &box.modelInf->pVertices[box.modelInf->pTriangles[box.triangleIndexes[i]].indexToVertices[1]]; |
---|
| 398 | c = &box.modelInf->pVertices[box.modelInf->pTriangles[box.triangleIndexes[i]].indexToVertices[2]]; |
---|
| 399 | |
---|
| 400 | triangleCenter[0] = (a[0] + b[0] + c[0]) / 3.0f; |
---|
| 401 | triangleCenter[1] = (a[1] + b[1] + c[1]) / 3.0f; |
---|
| 402 | triangleCenter[2] = (a[2] + b[2] + c[2]) / 3.0f; |
---|
| 403 | tmpDist = this->separationPlane.distancePoint(*((sVec3D*)triangleCenter)); |
---|
| 404 | |
---|
| 405 | if( tmpDist > 0.0f) |
---|
| 406 | partition1.push_back(box.triangleIndexes[i]); /* positive numbers plus zero */ |
---|
| 407 | else if( tmpDist < 0.0f) |
---|
| 408 | partition2.push_back(box.triangleIndexes[i]); /* negatice numbers */ |
---|
| 409 | else { |
---|
| 410 | partition1.push_back(box.triangleIndexes[i]); /* 0.0f? unprobable... */ |
---|
| 411 | partition2.push_back(box.triangleIndexes[i]); |
---|
| 412 | } |
---|
[4612] | 413 | } |
---|
[7734] | 414 | PRINTF(4)("\nPartition1: got \t%i Vertices \nPartition2: got \t%i Vertices\n", partition1.size(), partition2.size()); |
---|
[4611] | 415 | |
---|
[4612] | 416 | |
---|
[4613] | 417 | /* now comes the separation into two different sVec3D arrays */ |
---|
| 418 | int index; //!< index storage place |
---|
[7711] | 419 | int* triangleIndexList1; //!< the vertex list 1 |
---|
| 420 | int* triangleIndexList2; //!< the vertex list 2 |
---|
| 421 | std::list<int>::iterator element; //!< the list iterator |
---|
[4613] | 422 | |
---|
[7711] | 423 | triangleIndexList1 = new int[partition1.size()]; |
---|
| 424 | triangleIndexList2 = new int[partition2.size()]; |
---|
[4613] | 425 | |
---|
[7711] | 426 | for( element = partition1.begin(), index = 0; element != partition1.end(); element++, index++) |
---|
| 427 | triangleIndexList1[index] = (*element); |
---|
[4613] | 428 | |
---|
[7711] | 429 | for( element = partition2.begin(), index = 0; element != partition2.end(); element++, index++) |
---|
| 430 | triangleIndexList2[index] = (*element); |
---|
[4613] | 431 | |
---|
[7711] | 432 | if( this->triangleIndexList1!= NULL) |
---|
| 433 | delete[] this->triangleIndexList1; |
---|
| 434 | this->triangleIndexList1 = triangleIndexList1; |
---|
| 435 | this->triangleIndexLength1 = partition1.size(); |
---|
[4613] | 436 | |
---|
[7711] | 437 | if( this->triangleIndexList2 != NULL) |
---|
| 438 | delete[] this->triangleIndexList2; |
---|
| 439 | this->triangleIndexList2 = triangleIndexList2; |
---|
| 440 | this->triangleIndexLength2 = partition2.size(); |
---|
[4557] | 441 | } |
---|
| 442 | |
---|
| 443 | |
---|
[4626] | 444 | |
---|
[7732] | 445 | /** |
---|
| 446 | * collides one tree with an other |
---|
| 447 | * @param treeNode the other bv tree node |
---|
| 448 | * @param nodeA the worldentity belonging to this bv |
---|
| 449 | * @param nodeB the worldentity belonging to treeNode |
---|
| 450 | */ |
---|
[5028] | 451 | void OBBTreeNode::collideWith(BVTreeNode* treeNode, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
[4695] | 452 | { |
---|
[7732] | 453 | if( unlikely(treeNode == NULL || nodeA == NULL || nodeB == NULL)) |
---|
[7711] | 454 | return; |
---|
| 455 | |
---|
| 456 | PRINTF(4)("collideWith\n"); |
---|
[7732] | 457 | PRINTF(5)("Checking OBB %i vs %i: ", this->getIndex(), treeNode->getIndex()); |
---|
[5042] | 458 | |
---|
[7732] | 459 | // for now only collide with OBBTreeNodes |
---|
| 460 | this->collideWithOBB((OBBTreeNode*)treeNode, nodeA, nodeB); |
---|
| 461 | } |
---|
[7711] | 462 | |
---|
[7732] | 463 | |
---|
| 464 | |
---|
| 465 | /** |
---|
| 466 | * collides one obb tree with an other |
---|
| 467 | * @param treeNode the other bv tree node |
---|
| 468 | * @param nodeA the worldentity belonging to this bv |
---|
| 469 | * @param nodeB the worldentity belonging to treeNode |
---|
| 470 | */ |
---|
| 471 | void OBBTreeNode::collideWithOBB(OBBTreeNode* treeNode, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
| 472 | { |
---|
[7734] | 473 | |
---|
| 474 | if( this->overlapTest(this->bvElement, treeNode->bvElement, nodeA, nodeB)) |
---|
[4695] | 475 | { |
---|
[7732] | 476 | PRINTF(5)("collision @ lvl %i, object %s vs. %s, (%p, %p)\n", this->depth, nodeA->getClassName(), nodeB->getClassName(), this->nodeLeft, this->nodeRight); |
---|
[5038] | 477 | |
---|
[8190] | 478 | |
---|
| 479 | // left node |
---|
[7735] | 480 | if( this->nodeLeft != NULL ) |
---|
[4704] | 481 | { |
---|
[7732] | 482 | if( this->overlapTest(this->nodeLeft->bvElement, treeNode->bvElement, nodeA, nodeB)) |
---|
[4704] | 483 | { |
---|
[8190] | 484 | if( treeNode->nodeLeft != NULL) |
---|
| 485 | this->nodeLeft->collideWith(treeNode->nodeLeft, nodeA, nodeB); |
---|
| 486 | if( treeNode->nodeRight != NULL) |
---|
| 487 | this->nodeLeft->collideWith(treeNode->nodeRight, nodeA, nodeB); |
---|
[4704] | 488 | } |
---|
| 489 | } |
---|
[8190] | 490 | |
---|
| 491 | // right node |
---|
| 492 | if( this->nodeRight != NULL ) |
---|
[4704] | 493 | { |
---|
[8190] | 494 | if( this->overlapTest(this->nodeRight->bvElement, treeNode->bvElement, nodeA, nodeB)) |
---|
[4704] | 495 | { |
---|
[8190] | 496 | if( treeNode->nodeLeft != NULL) |
---|
| 497 | this->nodeRight->collideWith(treeNode->nodeLeft, nodeA, nodeB); |
---|
| 498 | if( treeNode->nodeRight != NULL) |
---|
| 499 | this->nodeRight->collideWith(treeNode->nodeRight, nodeA, nodeB); |
---|
[4704] | 500 | } |
---|
[5044] | 501 | } |
---|
[5028] | 502 | |
---|
[8190] | 503 | |
---|
| 504 | // hybrid mode: we reached the end of this obbtree, now reach the end of the other tree |
---|
| 505 | if( this->nodeLeft == NULL && this->nodeRight == NULL) |
---|
[5044] | 506 | { |
---|
[8190] | 507 | if( treeNode->nodeLeft != NULL) |
---|
| 508 | this->collideWith(treeNode->nodeLeft, nodeA, nodeB); |
---|
| 509 | if( treeNode->nodeRight != NULL) |
---|
| 510 | this->collideWith(treeNode->nodeRight, nodeA, nodeB); |
---|
[4704] | 511 | } |
---|
[5044] | 512 | |
---|
[8190] | 513 | |
---|
| 514 | // now check if we reached the end of both trees |
---|
| 515 | if( unlikely((this->nodeRight == NULL && this->nodeLeft == NULL) && |
---|
| 516 | (treeNode->nodeRight == NULL && treeNode->nodeLeft == NULL)) ) |
---|
| 517 | { |
---|
| 518 | nodeA->registerCollision(nodeA, nodeB, (BoundingVolume*)this->bvElement, (BoundingVolume*)treeNode->bvElement); |
---|
| 519 | } |
---|
| 520 | |
---|
[4695] | 521 | } |
---|
| 522 | } |
---|
[4542] | 523 | |
---|
| 524 | |
---|
[7732] | 525 | /** |
---|
| 526 | * this actualy checks if one obb box touches the other |
---|
| 527 | * @param boxA the box from nodeA |
---|
| 528 | * @param boxB the box from nodeB |
---|
| 529 | * @param nodeA the node itself |
---|
| 530 | * @param nodeB the node itself |
---|
| 531 | */ |
---|
| 532 | bool OBBTreeNode::overlapTest(OBB* boxA, OBB* boxB, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
[4695] | 533 | { |
---|
[7711] | 534 | //HACK remove this again |
---|
| 535 | this->owner = nodeA; |
---|
| 536 | // if( boxB == NULL || boxA == NULL) |
---|
| 537 | // return false; |
---|
| 538 | |
---|
[4696] | 539 | /* first check all axis */ |
---|
[7713] | 540 | Vector t; |
---|
| 541 | float rA = 0.0f; |
---|
| 542 | float rB = 0.0f; |
---|
| 543 | Vector l; |
---|
| 544 | Vector rotAxisA[3]; |
---|
| 545 | Vector rotAxisB[3]; |
---|
[4626] | 546 | |
---|
[7732] | 547 | rotAxisA[0] = nodeA->getAbsDir().apply(boxA->axis[0]); |
---|
| 548 | rotAxisA[1] = nodeA->getAbsDir().apply(boxA->axis[1]); |
---|
| 549 | rotAxisA[2] = nodeA->getAbsDir().apply(boxA->axis[2]); |
---|
[4708] | 550 | |
---|
[7732] | 551 | rotAxisB[0] = nodeB->getAbsDir().apply(boxB->axis[0]); |
---|
| 552 | rotAxisB[1] = nodeB->getAbsDir().apply(boxB->axis[1]); |
---|
| 553 | rotAxisB[2] = nodeB->getAbsDir().apply(boxB->axis[2]); |
---|
[4708] | 554 | |
---|
[7732] | 555 | t = nodeA->getAbsCoor() + nodeA->getAbsDir().apply(boxA->center) - ( nodeB->getAbsCoor() + nodeB->getAbsDir().apply(boxB->center)); |
---|
[4708] | 556 | |
---|
[4703] | 557 | /* All 3 axis of the object A */ |
---|
[4701] | 558 | for( int j = 0; j < 3; ++j) |
---|
[4705] | 559 | { |
---|
| 560 | rA = 0.0f; |
---|
| 561 | rB = 0.0f; |
---|
[4708] | 562 | l = rotAxisA[j]; |
---|
[4705] | 563 | |
---|
[7732] | 564 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 565 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 566 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
[4705] | 567 | |
---|
[7732] | 568 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 569 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 570 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
[4705] | 571 | |
---|
[7711] | 572 | PRINTF(5)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
[4705] | 573 | |
---|
| 574 | if( (rA + rB) < fabs(t.dot(l))) |
---|
[4700] | 575 | { |
---|
[7711] | 576 | PRINTF(4)("no Collision\n"); |
---|
[4705] | 577 | return false; |
---|
| 578 | } |
---|
| 579 | } |
---|
[4700] | 580 | |
---|
[4705] | 581 | /* All 3 axis of the object B */ |
---|
| 582 | for( int j = 0; j < 3; ++j) |
---|
| 583 | { |
---|
| 584 | rA = 0.0f; |
---|
| 585 | rB = 0.0f; |
---|
[4708] | 586 | l = rotAxisB[j]; |
---|
[4701] | 587 | |
---|
[7732] | 588 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 589 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 590 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
[4700] | 591 | |
---|
[7732] | 592 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 593 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 594 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
[4703] | 595 | |
---|
[7711] | 596 | PRINTF(5)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
[4705] | 597 | |
---|
| 598 | if( (rA + rB) < fabs(t.dot(l))) |
---|
| 599 | { |
---|
[7711] | 600 | PRINTF(4)("no Collision\n"); |
---|
[4705] | 601 | return false; |
---|
[4701] | 602 | } |
---|
[4705] | 603 | } |
---|
[4700] | 604 | |
---|
[4705] | 605 | |
---|
| 606 | /* Now check for all face cross products */ |
---|
| 607 | |
---|
| 608 | for( int j = 0; j < 3; ++j) |
---|
| 609 | { |
---|
| 610 | for(int k = 0; k < 3; ++k ) |
---|
[4701] | 611 | { |
---|
| 612 | rA = 0.0f; |
---|
| 613 | rB = 0.0f; |
---|
[4708] | 614 | l = rotAxisA[j].cross(rotAxisB[k]); |
---|
[4701] | 615 | |
---|
[7732] | 616 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 617 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 618 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
[4701] | 619 | |
---|
[7732] | 620 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 621 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 622 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
[4701] | 623 | |
---|
[7711] | 624 | PRINTF(5)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
[4703] | 625 | |
---|
[4701] | 626 | if( (rA + rB) < fabs(t.dot(l))) |
---|
| 627 | { |
---|
[7711] | 628 | PRINTF(4)("keine Kollision\n"); |
---|
[4701] | 629 | return false; |
---|
| 630 | } |
---|
[4703] | 631 | } |
---|
[4705] | 632 | } |
---|
[4701] | 633 | |
---|
[7711] | 634 | /* FIXME: there is no collision mark set now */ |
---|
[7732] | 635 | boxA->bCollided = true; /* use this ONLY(!!!!) for drawing operations */ |
---|
| 636 | boxB->bCollided = true; |
---|
[4701] | 637 | |
---|
[7711] | 638 | |
---|
| 639 | PRINTF(4)("Kollision!\n"); |
---|
[4705] | 640 | return true; |
---|
[4695] | 641 | } |
---|
| 642 | |
---|
| 643 | |
---|
[7711] | 644 | /** |
---|
| 645 | * |
---|
| 646 | * draw the BV tree - debug mode |
---|
| 647 | */ |
---|
[5481] | 648 | void OBBTreeNode::drawBV(int depth, int drawMode, const Vector& color, bool top) const |
---|
[4553] | 649 | { |
---|
[7711] | 650 | /* this function can be used to draw the triangles and/or the points only */ |
---|
| 651 | if( 1 /*drawMode & DRAW_MODEL || drawMode & DRAW_ALL*/) |
---|
[4635] | 652 | { |
---|
[7711] | 653 | if( depth == 0/*!(drawMode & DRAW_SINGLE && depth != 0)*/) |
---|
[4622] | 654 | { |
---|
[7711] | 655 | if( 1 /*drawMode & DRAW_POINTS*/) |
---|
| 656 | { |
---|
[4712] | 657 | glBegin(GL_POINTS); |
---|
[7711] | 658 | glColor3f(0.3, 0.8, 0.54); |
---|
[8316] | 659 | for(unsigned int i = 0; i < this->bvElement->modelInf->numVertices*3; i+=3) |
---|
[7711] | 660 | glVertex3f(this->bvElement->modelInf->pVertices[i], |
---|
| 661 | this->bvElement->modelInf->pVertices[i+1], |
---|
| 662 | this->bvElement->modelInf->pVertices[i+2]); |
---|
| 663 | glEnd(); |
---|
[4638] | 664 | } |
---|
[4622] | 665 | } |
---|
[4635] | 666 | } |
---|
[4542] | 667 | |
---|
[5481] | 668 | if (top) |
---|
| 669 | { |
---|
| 670 | glPushAttrib(GL_ENABLE_BIT); |
---|
| 671 | glDisable(GL_LIGHTING); |
---|
| 672 | glDisable(GL_TEXTURE_2D); |
---|
| 673 | } |
---|
| 674 | glColor3f(color.x, color.y, color.z); |
---|
[4542] | 675 | |
---|
[5481] | 676 | |
---|
[4589] | 677 | /* draw world axes */ |
---|
[8776] | 678 | // if( 1 /*drawMode & DRAW_BV_AXIS*/) |
---|
| 679 | // { |
---|
| 680 | // glBegin(GL_LINES); |
---|
| 681 | // glColor3f(1.0, 0.0, 0.0); |
---|
| 682 | // glVertex3f(0.0, 0.0, 0.0); |
---|
| 683 | // glVertex3f(3.0, 0.0, 0.0); |
---|
| 684 | // |
---|
| 685 | // glColor3f(0.0, 1.0, 0.0); |
---|
| 686 | // glVertex3f(0.0, 0.0, 0.0); |
---|
| 687 | // glVertex3f(0.0, 3.0, 0.0); |
---|
| 688 | // |
---|
| 689 | // glColor3f(0.0, 0.0, 1.0); |
---|
| 690 | // glVertex3f(0.0, 0.0, 0.0); |
---|
| 691 | // glVertex3f(0.0, 0.0, 3.0); |
---|
| 692 | // glEnd(); |
---|
| 693 | // } |
---|
[4589] | 694 | |
---|
| 695 | |
---|
[7711] | 696 | if( 1/*drawMode & DRAW_BV_AXIS || drawMode & DRAW_ALL*/) |
---|
[4635] | 697 | { |
---|
[7711] | 698 | if( 1/*drawMode & DRAW_SINGLE && depth != 0*/) |
---|
[4635] | 699 | { |
---|
| 700 | /* draw the obb axes */ |
---|
| 701 | glBegin(GL_LINES); |
---|
[7711] | 702 | glColor3f(1.0, 0.0, 0.0); |
---|
| 703 | glVertex3f(this->bvElement->center.x, this->bvElement->center.y, this->bvElement->center.z); |
---|
| 704 | glVertex3f(this->bvElement->center.x + this->bvElement->axis[0].x * this->bvElement->halfLength[0], |
---|
| 705 | this->bvElement->center.y + this->bvElement->axis[0].y * this->bvElement->halfLength[0], |
---|
| 706 | this->bvElement->center.z + this->bvElement->axis[0].z * this->bvElement->halfLength[0]); |
---|
[4589] | 707 | |
---|
[7711] | 708 | glColor3f(0.0, 1.0, 0.0); |
---|
| 709 | glVertex3f(this->bvElement->center.x, this->bvElement->center.y, this->bvElement->center.z); |
---|
| 710 | glVertex3f(this->bvElement->center.x + this->bvElement->axis[1].x * this->bvElement->halfLength[1], |
---|
| 711 | this->bvElement->center.y + this->bvElement->axis[1].y * this->bvElement->halfLength[1], |
---|
| 712 | this->bvElement->center.z + this->bvElement->axis[1].z * this->bvElement->halfLength[1]); |
---|
[4588] | 713 | |
---|
[7711] | 714 | glColor3f(0.0, 0.0, 1.0); |
---|
| 715 | glVertex3f(this->bvElement->center.x, this->bvElement->center.y, this->bvElement->center.z); |
---|
| 716 | glVertex3f(this->bvElement->center.x + this->bvElement->axis[2].x * this->bvElement->halfLength[2], |
---|
| 717 | this->bvElement->center.y + this->bvElement->axis[2].y * this->bvElement->halfLength[2], |
---|
| 718 | this->bvElement->center.z + this->bvElement->axis[2].z * this->bvElement->halfLength[2]); |
---|
[4635] | 719 | glEnd(); |
---|
| 720 | } |
---|
| 721 | } |
---|
[4581] | 722 | |
---|
[4588] | 723 | |
---|
[4674] | 724 | /* DRAW POLYGONS */ |
---|
[4673] | 725 | if( drawMode & DRAW_BV_POLYGON || drawMode & DRAW_ALL || drawMode & DRAW_BV_BLENDED) |
---|
[4635] | 726 | { |
---|
[5487] | 727 | if (top) |
---|
| 728 | { |
---|
| 729 | glEnable(GL_BLEND); |
---|
| 730 | glBlendFunc(GL_SRC_ALPHA, GL_ONE); |
---|
| 731 | } |
---|
| 732 | |
---|
[7711] | 733 | if( this->nodeLeft == NULL && this->nodeRight == NULL) |
---|
[4710] | 734 | depth = 0; |
---|
[4588] | 735 | |
---|
[7711] | 736 | if( depth == 0 /*!(drawMode & DRAW_SINGLE && depth != 0)*/) |
---|
[5481] | 737 | { |
---|
[4670] | 738 | |
---|
[4588] | 739 | |
---|
[7711] | 740 | Vector cen = this->bvElement->center; |
---|
| 741 | Vector* axis = this->bvElement->axis; |
---|
| 742 | float* len = this->bvElement->halfLength; |
---|
[4588] | 743 | |
---|
[7711] | 744 | if( this->bvElement->bCollided) |
---|
| 745 | { |
---|
| 746 | glColor4f(1.0, 1.0, 1.0, .5); // COLLISION COLOR |
---|
| 747 | } |
---|
| 748 | else if( drawMode & DRAW_BV_BLENDED) |
---|
| 749 | { |
---|
| 750 | glColor4f(color.x, color.y, color.z, .5); |
---|
| 751 | } |
---|
[4588] | 752 | |
---|
[7711] | 753 | // debug out |
---|
| 754 | if( this->obbTree->getOwner() != NULL) |
---|
| 755 | { |
---|
| 756 | 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()); |
---|
| 757 | } |
---|
| 758 | else |
---|
| 759 | PRINTF(4)("debug poly draw: depth: %i, mode: %i\n", depth, drawMode); |
---|
[4670] | 760 | |
---|
[4671] | 761 | |
---|
[7711] | 762 | /* draw bounding box */ |
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| 763 | if( drawMode & DRAW_BV_BLENDED) |
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| 764 | glBegin(GL_QUADS); |
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| 765 | else |
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| 766 | glBegin(GL_LINE_LOOP); |
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| 767 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
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| 768 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
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| 769 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
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[4671] | 770 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
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| 771 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
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| 772 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
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| 773 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
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| 774 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
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| 775 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
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[7711] | 776 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
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| 777 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
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| 778 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
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| 779 | glEnd(); |
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| 780 | |
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| 781 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 782 | glBegin(GL_QUADS); |
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| 783 | else |
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| 784 | glBegin(GL_LINE_LOOP); |
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| 785 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
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| 786 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
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| 787 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
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| 788 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
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| 789 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
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| 790 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
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[4671] | 791 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
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| 792 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
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| 793 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
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[7711] | 794 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
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| 795 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
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| 796 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
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[4671] | 797 | glEnd(); |
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| 798 | |
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[7711] | 799 | if( drawMode & DRAW_BV_BLENDED) |
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| 800 | glBegin(GL_QUADS); |
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| 801 | else |
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| 802 | glBegin(GL_LINE_LOOP); |
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| 803 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
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| 804 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
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| 805 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
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| 806 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
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| 807 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 808 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
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| 809 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
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| 810 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
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| 811 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
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[4671] | 812 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
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| 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]); |
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[7711] | 815 | glEnd(); |
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| 816 | |
---|
| 817 | if( drawMode & DRAW_BV_BLENDED) |
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| 818 | glBegin(GL_QUADS); |
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| 819 | else |
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| 820 | glBegin(GL_LINE_LOOP); |
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| 821 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
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| 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]); |
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| 824 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
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| 825 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
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| 826 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
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[4671] | 827 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
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| 828 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
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| 829 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
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[7711] | 830 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
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| 831 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
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| 832 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
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[4671] | 833 | glEnd(); |
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| 834 | |
---|
| 835 | |
---|
[7711] | 836 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 837 | { |
---|
| 838 | glBegin(GL_QUADS); |
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| 839 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
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| 840 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
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| 841 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
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| 842 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
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| 843 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
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| 844 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
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| 845 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
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| 846 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
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| 847 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
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| 848 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
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| 849 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
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| 850 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
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| 851 | glEnd(); |
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| 852 | |
---|
| 853 | glBegin(GL_QUADS); |
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| 854 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
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| 855 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
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| 856 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
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| 857 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
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| 858 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
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| 859 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
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| 860 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
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| 861 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
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| 862 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
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| 863 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
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| 864 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
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| 865 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
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| 866 | glEnd(); |
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| 867 | } |
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| 868 | |
---|
| 869 | if( drawMode & DRAW_BV_BLENDED) |
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| 870 | glColor3f(color.x, color.y, color.z); |
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[4635] | 871 | } |
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| 872 | } |
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[4588] | 873 | |
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[4674] | 874 | /* DRAW SEPARATING PLANE */ |
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[4635] | 875 | if( drawMode & DRAW_SEPARATING_PLANE || drawMode & DRAW_ALL) |
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[4632] | 876 | { |
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[4636] | 877 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
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[4635] | 878 | { |
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[4671] | 879 | if( drawMode & DRAW_BV_BLENDED) |
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[5481] | 880 | glColor4f(color.x, color.y, color.z, .6); |
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[4671] | 881 | |
---|
[7711] | 882 | /* now draw the separation plane */ |
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| 883 | Vector a1 = this->bvElement->axis[(this->longestAxisIndex + 1)%3]; |
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| 884 | Vector a2 = this->bvElement->axis[(this->longestAxisIndex + 2)%3]; |
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| 885 | Vector c = this->bvElement->center; |
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| 886 | float l1 = this->bvElement->halfLength[(this->longestAxisIndex + 1)%3]; |
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| 887 | float l2 = this->bvElement->halfLength[(this->longestAxisIndex + 2)%3]; |
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| 888 | glBegin(GL_QUADS); |
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| 889 | 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); |
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| 890 | 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); |
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| 891 | 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); |
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| 892 | 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); |
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| 893 | glEnd(); |
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[4671] | 894 | |
---|
[7711] | 895 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 896 | glColor4f(color.x, color.y, color.z, 1.0); |
---|
[4671] | 897 | |
---|
[4635] | 898 | } |
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[4632] | 899 | } |
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[4588] | 900 | |
---|
[4702] | 901 | |
---|
| 902 | |
---|
[5481] | 903 | if (depth > 0) |
---|
| 904 | { |
---|
| 905 | if( this->nodeLeft != NULL) |
---|
[5494] | 906 | this->nodeLeft->drawBV(depth - 1, drawMode, Color::HSVtoRGB(Color::RGBtoHSV(color)+Vector(15.0,0.0,0.0)), false); |
---|
[5481] | 907 | if( this->nodeRight != NULL) |
---|
[5494] | 908 | this->nodeRight->drawBV(depth - 1, drawMode, Color::HSVtoRGB(Color::RGBtoHSV(color)+Vector(30.0,0.0,0.0)), false); |
---|
[5481] | 909 | } |
---|
| 910 | this->bvElement->bCollided = false; |
---|
[4588] | 911 | |
---|
[5481] | 912 | if (top) |
---|
| 913 | glPopAttrib(); |
---|
[4557] | 914 | } |
---|
[4542] | 915 | |
---|
| 916 | |
---|
[4568] | 917 | |
---|
[4746] | 918 | void OBBTreeNode::debug() const |
---|
[4568] | 919 | { |
---|
[7711] | 920 | PRINT(0)("========OBBTreeNode::debug()=====\n"); |
---|
| 921 | PRINT(0)(" Current depth: %i", this->depth); |
---|
| 922 | PRINT(0)(" "); |
---|
| 923 | PRINT(0)("=================================\n"); |
---|
[4617] | 924 | } |
---|