Changeset 4562 in orxonox.OLD for orxonox/trunk

Timestamp:

Jun 9, 2005, 12:37:13 AM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: collision detection framework now works again

Location:

orxonox/trunk/src/lib

Files:

• collision_detection/bounding_volume.cc (modified) (1 diff)
• collision_detection/obb_tree_node.cc (modified) (4 diffs)
• math/vector.h (modified) (1 diff)

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

@@ -29 +29 @@
    this->setClassID(CL_BOUNDING_VOLUME, "BoundingVolume"); 
    this->center = new Vector();
-
 }
 

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

@@ -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;                               //!< the covariance matrix
+  float     covariance[3][3];                        //!< the covariance matrix
     
   this->numOfVertices = length;
   this->vertices = verticesList;
+
 
   /* fist compute all the convex hull face/facelets and centroids */
@@ -94 +95 @@
       face += facelet[i];
 
-
       /* calculate the cetroid of the hull triangles */
       centroid[i] = (p + q + r) * 1/3;
@@ -102 +102 @@
   /* take the average of the centroid sum */
   center /= face;
+
+
   
   /* now calculate the covariance matrix - if not written in three for-loops, it would compute faster: minor */
@@ -119 +121 @@
         }
     }
+
   
   printf("Covariance Matrix:\n");

orxonox/trunk/src/lib/math/vector.h

@@ -28 +28 @@
 
   /** \param index The index of the "array" \returns the x/y/z coordinate */
-  inline float operator[] (float index) const {if( index == 0) return this->x; if( index == 1) return this->y; if( index == 2) return this->z;}
+  inline float operator[] (float index) const {if( index == 0) return this->x; if( index == 1) return this->y; if( index == 2) return this->z; }
   /**  \param v The vector to add \returns the addition between two vectors (this + v) */
   inline Vector operator+ (const Vector& v) const { return Vector(x + v.x, y + v.y, z + v.z); };