Changeset 4560 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Jun 9, 2005, 12:21:08 AM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: compiles again, some smaller changes in the cd engine

File:

• orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (7 diffs)

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

@@ -56 +56 @@
 {
   this->bvElement = this->createBox();
-  this->calculateBoxAttributes(box);
-  this->forkBox(box);
+  this->calculateBoxAttributes(this->bvElement, verticesList, length);
+  this->forkBox(this->bvElement);
 }
 
@@ -67 +67 @@
 
 
-void OBBTreeNode::calculateBoxAttributes(OBB* box)
+void OBBTreeNode::calculateBoxAttributes(OBB* box, sVec3D* verticesList, int length)
 {
   float     facelet[length];                         //!< surface area of the i'th triangle of the convex hull
@@ -75 +75 @@
   Vector    p, q, r;                                 //!< holder of the polygon data, much more conveniant to work with Vector than sVec3d
   Vector    t1, t2;                                  //!< temporary values
-  float     covariance[3][3];                        //!< the covariance matrix
+  float**   covariance;                               //!< the covariance matrix
     
   this->numOfVertices = length;
@@ -130 +130 @@
       printf(" |\n");
     }
-  printf("center: %f, %f, %f\n\n", centre.x, centre.y, centre.z);
+  printf("center: %f, %f, %f\n\n", center.x, center.y, center.z);
 
   for(int i = 0; i < length; i++)
@@ -137 +137 @@
     }
 
-
+   
+  for(int i = 0; i < 3; ++i)
+    {
     
-  box->covarianceMatrix = covariance;
-  box->center = center;
+      box->covarianceMatrix[i][0] = covariance[i][0];
+      box->covarianceMatrix[i][1] = covariance[i][1];
+      box->covarianceMatrix[i][3] = covariance[i][2];
+    }
+  *box->center = center;
 
 
@@ -161 +166 @@
   for(int i = 0; i < 3; ++i)
     {
-      if( aLength < box->axis[i])
+      if( aLength < box->axis[i].len())
         {
-          aLength = box->axis[i];
+          aLength = box->axis[i].len();
           axisNr = i;
         }
@@ -194 +199 @@
   this->bvElement->axis;
   
-  glBegin(GL_TRIANGLE);
-  glVertex3f(this->bvElement->center );
-  glEnd();
+  //glBegin(GL_TRIANGLE);
+  //glVertex3f(this->bvElement->center );
+  //glEnd();
 }