Changeset 4541 in orxonox.OLD for orxonox/trunk/src/lib

Timestamp:

Jun 7, 2005, 5:47:07 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: added obb tree node structure to be more modular

Location:

orxonox/trunk/src/lib/collision_detection

Files:

• Makefile.am (modified) (2 diffs)
• Makefile.in (modified) (5 diffs)
• bounding_volume.h (modified) (3 diffs)
• bv_tree_node.cc (added)
• bv_tree_node.h (added)
• cd_engine.h (modified) (1 diff)
• obb.cc (modified) (2 diffs)
• obb.h (modified) (2 diffs)
• obb_tree.cc (modified) (1 diff)
• obb_tree_node.cc (added)
• obb_tree_node.h (added)

orxonox/trunk/src/lib/collision_detection/Makefile.am

@@ -8 +8 @@
                      obb.cc \
                      obb_tree.cc \
+                     obb_tree_node.cc \
                      bv_tree.cc \
+                     bv_tree_node.cc \
                      bounding_volume.cc \
                      bounding_sphere.cc
@@ -19 +21 @@
                      obb.h \
                      obb_tree.h \
+                     obb_tree_node.h \
                      bv_tree.h \
+                     bv_tree_node.h \
                      bounding_volume.h \
                      bounding_sphere.h

orxonox/trunk/src/lib/collision_detection/Makefile.in

@@ -55 +55 @@
 libORXcd_a_LIBADD =
 am_libORXcd_a_OBJECTS = cd_engine.$(OBJEXT) collision.$(OBJEXT) \
-        obb.$(OBJEXT) obb_tree.$(OBJEXT) bv_tree.$(OBJEXT) \
+        obb.$(OBJEXT) obb_tree.$(OBJEXT) obb_tree_node.$(OBJEXT) \
+        bv_tree.$(OBJEXT) bv_tree_node.$(OBJEXT) \
         bounding_volume.$(OBJEXT) bounding_sphere.$(OBJEXT)
 libORXcd_a_OBJECTS = $(am_libORXcd_a_OBJECTS)
@@ -63 +64 @@
 @AMDEP_TRUE@DEP_FILES = ./$(DEPDIR)/bounding_sphere.Po \
 @AMDEP_TRUE@    ./$(DEPDIR)/bounding_volume.Po \
-@AMDEP_TRUE@    ./$(DEPDIR)/bv_tree.Po ./$(DEPDIR)/cd_engine.Po \
-@AMDEP_TRUE@    ./$(DEPDIR)/collision.Po ./$(DEPDIR)/obb.Po \
-@AMDEP_TRUE@    ./$(DEPDIR)/obb_tree.Po
+@AMDEP_TRUE@    ./$(DEPDIR)/bv_tree.Po ./$(DEPDIR)/bv_tree_node.Po \
+@AMDEP_TRUE@    ./$(DEPDIR)/cd_engine.Po ./$(DEPDIR)/collision.Po \
+@AMDEP_TRUE@    ./$(DEPDIR)/obb.Po ./$(DEPDIR)/obb_tree.Po \
+@AMDEP_TRUE@    ./$(DEPDIR)/obb_tree_node.Po
 CXXCOMPILE = $(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \
         $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS)
@@ -191 +193 @@
                      obb.cc \
                      obb_tree.cc \
+                     obb_tree_node.cc \
                      bv_tree.cc \
+                     bv_tree_node.cc \
                      bounding_volume.cc \
                      bounding_sphere.cc
@@ -200 +204 @@
                      obb.h \
                      obb_tree.h \
+                     obb_tree_node.h \
                      bv_tree.h \
+                     bv_tree_node.h \
                      bounding_volume.h \
                      bounding_sphere.h
@@ -254 +260 @@
 @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/bounding_volume.Po@am__quote@
 @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/bv_tree.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/bv_tree_node.Po@am__quote@
 @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/cd_engine.Po@am__quote@
 @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/collision.Po@am__quote@
 @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/obb.Po@am__quote@
 @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/obb_tree.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/obb_tree_node.Po@am__quote@
 
 .cc.o:

orxonox/trunk/src/lib/collision_detection/bounding_volume.h

@@ -12 +12 @@
 class sVect3D;
 class Vector;
+template<class T> class tList;
+
 
 //! An abstract class representing a bounding volume
@@ -20 +22 @@
   virtual ~BoundingVolume();
 
+  virtual void createBV() = NULL;
+
   inline const Vector* getCenter() const { return this->center; }
-  inline const int getIndex() { return this->treeIndex; }
 
-  virtual sVect3D* getVertices() const = NULL;
+  virtual tList<sVect3D>* getVertices() const = NULL;
   virtual void mergeWith(const BoundingVolume &bv) = NULL;
 
@@ -34 +37 @@
   Vector*             center;                     //!< Center point of box
 
-  unsigned int        treeIndex;                  //!< Index number of the BV in the tree
+  tList<sVect3D>*     verticesBuffer;             //!< if CD_STORE_VERTICES enabled, this is the place, where the vert. will be sotred
 };
 

orxonox/trunk/src/lib/collision_detection/cd_engine.h

@@ -22 +22 @@
     CD_DEBUG_DRAW_BLENDED = 1<<2,
     CD_DEBUG_DRAW_HIT_BV = 1<<3,
-    CD_DEBUG_VERBOSE = 1<<4
+    CD_DEBUG_VERBOSE = 1<<4,
+
+    CD_STORE_VERTICES = 1<<5
   };
 

orxonox/trunk/src/lib/collision_detection/obb.cc

@@ -17 +17 @@
 
 #include "obb.h"
+#include "list.h"
 
 using namespace std;
@@ -40 +41 @@
 
 
-sVect3D* OBB::getVertices() const
+void OBB::createBV() const
 {}
 

orxonox/trunk/src/lib/collision_detection/obb.h

@@ -11 +11 @@
 #include "bounding_volume.h"
 
+template<class T> class tList;
 
 //! A class representing an extended bounding volume tree: an obb tree
@@ -19 +20 @@
   virtual ~OBB();
 
+  virtual void createBV() const;
+
   inline const Vector* getAxis () const { return this->axis; }
   inline const sVect3D* getHalfLength() const { return this->halfLength; } 
 
-  virtual sVect3D* getVertices() const;
+  virtual tList<sVect3D>* getVertices() const { return this->verticesBuffer; }
   virtual void mergeWith(const BoundingVolume &bv);
 

orxonox/trunk/src/lib/collision_detection/obb_tree.cc

@@ -44 +44 @@
 void OBBTree::spawnBVTree(int depth)
 {
-  OBB obb();
+  float area[this->numberOfVertices];  //!< surface area of the i'th triangle of the convex hull
+  float areaTotal; //!< surface area of the entire convex hull
+  float centroid[this->numberOfVertices]; //!< centroid of the i'th convex hull
+  
+
+  //OBB obb();
   float muX, muY, muZ;
   for(int i = 0; i < this->numberOfVertices; ++i)