Changeset 4573 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Jun 10, 2005, 1:41:48 AM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: now working on the obb axis alignement

File:

• orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (1 diff)

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

@@ -166 +166 @@
      vectors
   */
-    
-  SymmetricMatrix C(3);
-  
-  C(1,1) = 1;
-  C(1,2) = 4;
-  C(1,3) = 4;
-  C(2,1) = 4;  
-  C(2,2) = 2;
-  C(2,3) = 4;
-  C(3,1) = 4;
-  C(3,2) = 4;
-  C(3,3) = 3;
-  
-  // cout << "The symmetrix matrix C" << endl;
-  //cout << setw(5) << setprecision(0) << C << endl;
-
-  Matrix                V(3,3); // for eigenvectors
-  DiagonalMatrix        D(3);   // for eigenvalues
-  
-  // the decomposition
-  Jacobi(C, D, V);
-
-
-  // Print the result
- /* cout << "The eigenvalues matrix:" << endl;
-  cout << setw(10) << setprecision(5) << D << endl;
-  cout << "The eigenvectors matrix:" << endl;*/
-  
+
+  Matrix                V(3,3);                               //!< for eigenvectors
+  DiagonalMatrix        D(3);                                 //!< for eigenvalues    
+  SymmetricMatrix       C(3);                                 //!< for the covariance symmetrical matrix
+  Vector**              axis;                                 //!< the references to the obb axis
+  
+  C(1,1) = covariance[0][0];
+  C(1,2) = covariance[0][1];
+  C(1,3) = covariance[0][2];
+  C(2,1) = covariance[1][0];    
+  C(2,2) = covariance[1][1];
+  C(2,3) = covariance[1][2]; 
+  C(3,1) = covariance[2][0];
+  C(3,2) = covariance[2][1];
+  C(3,3) = covariance[2][2];
+
+  Jacobi(C, D, V);                                            /* do the jacobi decomposition */
+
+  printf("we got a result! YES: \n");
+
+  for(int j = 1; j < 4; ++j)
+  {
+    printf(" |");
+    for(int k = 1; k < 4; ++k)
+    {
+      printf(" \b%f ", V(j, k));
+    }
+    printf(" |\n");
+  }
+
+   //axis1 = 
 
 }