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source: orxonox.OLD/trunk/src/lib/collision_detection/obb_tree_node.h @ 9649

Last change on this file since 9649 was 9235, checked in by bensch, 18 years ago

merged the presentation back

File size: 3.3 KB
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1/*!
2 * @file bv_tree.h
3 *  Definition of a bounding volume tree
4 */
5
6#ifndef _OBB_TREE_NODE_H
7#define _OBB_TREE_NODE_H
8
9
10#include "bv_tree_node.h"
11#include "plane.h"
12
13class BoundingVolume;
14class OBB;
15class OBBTree;
16class Plane;
17class PNode;
18
19
20//! A class that represents a bounding volume tree
21class OBBTreeNode : public BVTreeNode
22{
23
24
25  public:
26    OBBTreeNode(const OBBTree& tree, OBBTreeNode* prev, int depth);
27    virtual ~OBBTreeNode();
28
29    /**  this function returns the bounding volume of this tree node @return: returns the BV */
30    virtual inline const BoundingVolume* getBV() const { return (BoundingVolume*)this->bvElement; }
31
32    virtual void spawnBVTree(const modelInfo& modelInf, const int* triangleIndexes, int length);
33    void createBox(Vector start, Vector end);
34
35    virtual void collideWith(BVTreeNode* treeNode, WorldEntity* nodeA, WorldEntity* nodeB);
36    virtual void drawBV(int depth, int drawMode, const Vector& color = Vector(1,0,0), bool top = true) const;
37    void debug() const;
38
39    /**  gets the id of the current child @return id of the child */
40    inline const int getID() { return this->nextID++; }
41
42
43  private:
44    void calculateBoxAxis(OBB& box, const sVec3D* verticesList, unsigned int length);
45
46    void calculateBoxCovariance(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, int length);
47    void calculateBoxEigenvectors(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, int length);
48    void calculateBoxAxis(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, int length);
49    void forkBox(OBB& box);
50
51    void collideWithOBB(OBBTreeNode* treeNode, WorldEntity* nodeA, WorldEntity* nodeB);
52    bool overlapTest(OBB* boxA, OBB* boxB, WorldEntity* nodeA, WorldEntity* nodeB);
53
54
55  protected:
56    OBB*                bvElement;                  //!< the obb element
57    OBBTreeNode*        nodePrev;                   //!< ref to the previous (parent) tree node = NULL if first
58    OBBTreeNode*        nodeLeft;                   //!< ref to the left tree node
59    OBBTreeNode*        nodeRight;                  //!< ref to the right tree node
60
61
62  private:
63    int                 treeIndex;                  //!< Index number of the BV in the tree
64    int                 nextID;                     //!< the id of the next child
65    int                 depth;                      //!< the depth of the node in the tree
66    const OBBTree*      obbTree;                    //!< reference to the obb tree
67
68    const modelInfo*    modelInf;                   //!< pointer to the models modelInfo object
69    const int*          triangleIndexes;            //!< indexes to the used model triangles
70
71    Plane               separationPlane;            //!< the separation plane of the obb
72    sVec3D              sepPlaneCenter;             //!< only needed to draw plane
73    int                 longestAxisIndex;           //!< only needed to draw plane
74
75    /* tmp saving place for obb variables */
76    int*                triangleIndexList1;         //!< pointer to the vert data of obbox1
77    int*                triangleIndexList2;         //!< pointer to the vert data of obbox1
78    int                 triangleIndexLength1;       //!< len vert data obbox1
79    int                 triangleIndexLength2;       //!< len vert data obbox2
80
81    WorldEntity*        owner;
82
83};
84
85#endif /* _OBB_TREE_NODE_H */
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