Changeset 4544 in orxonox.OLD for orxonox/trunk

Timestamp:

Jun 7, 2005, 10:40:18 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: new feature in vector class, now can overtake values of a sVec3D, spawn tree alg, fast-math library, thats not used anymore

Location:

orxonox/trunk/src/lib/collision_detection

Files:

• Makefile.am (modified) (1 diff)
• Makefile.in (modified) (1 diff)
• bv_tree_node.h (modified) (1 diff)
• collision.h (modified) (1 diff)
• obb_tree_node.cc (modified) (3 diffs)
• obb_tree_node.h (modified) (2 diffs)

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

@@ -25 +25 @@
                      bv_tree_node.h \
                      bounding_volume.h \
-                     bounding_sphere.h
+                     bounding_sphere.h \
+                     fast_math.h
 

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

@@ -208 +208 @@
                      bv_tree_node.h \
                      bounding_volume.h \
-                     bounding_sphere.h
+                     bounding_sphere.h \
+                     fast_math.h
 
 all: all-am

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

@@ -9 +9 @@
 
 #include "base_object.h"
+#include "fast_math.h"
 
 // FORWARD DEFINITION
 class BoundingVolume;
-class sVec3D;
 class BVTree;
 template<class T> class tList;

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

@@ -13 +13 @@
 
 class WorldEntity;
-class sVec3D;
 class BoundingVolume;
 

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

@@ -19 +19 @@
 #include "list.h"
 #include "obb.h"
+#include "fast_math.h"
+#include "vector.h"
 
 #include <math.h>
@@ -51 +53 @@
    \param verticesList: the list of vertices of the object - each vertices triple is interpreted as a triangle
 */
-void OBBTreeNode::spawnBVTree(const int depth, const sVec3D *verticesList, const int length)
+void OBBTreeNode::spawnBVTree(const int depth, sVec3D *verticesList, const int length)
 {
   float     facelet[length];                         //!< surface area of the i'th triangle of the convex hull
@@ -57 +59 @@
   float     centroid[length];                        //!< centroid of the i'th convex hull  
   OBB*      obb = new OBB();                         //!< the new obb to add
+  Vector    p, q, r;                                 //!< holder of the polygon data, much more conveniant to work with Vector than sVec3d
+  Vector    t1, t2;
 
-  /* fist compute all the convex hull facelets */
-  for(int i = 0; i < length; ++i)
+  /* fist compute all the convex hull face/facelets */
+  for(int i = 0; i < length; i+=3)
     {
-      facelet[i] = 0.5f * fabs(5.0);
+      p = *(verticesList + i);
+      q = *(verticesList + i + 1);
+      r = *(verticesList + i + 2);
+      
+      t1 = p - q; t2 = p - r;
+      
+      /* finding the facelet surface via cross-product */
+      facelet[i] = 0.5f * fabs( t1.cross(t2).len() );
+
+      /* update the entire convex hull surface */
+      face += facelet[i];
     }
+
+
 }
 

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

@@ -12 +12 @@
 // FORWARD DEFINITION
 class BoundingVolume;
-class sVec3D;
 
 //! A class that represents a bounding volume tree
@@ -22 +21 @@
   virtual ~OBBTreeNode();
 
-  virtual void spawnBVTree(const int depth, const sVec3D *verticesList, const int length);
+  virtual void spawnBVTree(const int depth, sVec3D *verticesList, const int length);
 
   BoundingVolume* getBV(int index) const { return this->bvElement; }