Changeset 4581 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection

Timestamp:

Jun 10, 2005, 3:27:05 AM (20 years ago)

Author:

patrick

Message:

orxonox/trunk: axis get drawn, still strange values, debug

Location:

orxonox/trunk/src/lib/collision_detection

Files:

• obb_tree.cc (modified) (2 diffs)
• obb_tree_node.cc (modified) (4 diffs)

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

@@ -69 +69 @@
 {
   if( likely(this->rootNode != NULL))
+  {
     this->rootNode->drawBV(currentDepth, depth);
+    this->rootNode->drawBVPolygon(currentDepth, depth);
+  }
 }
 
@@ -94 +97 @@
   /* generate some test vertices */
   sVec3D* vertList = new sVec3D[3];
-  sVec3D data[]  = {{0.0, 0.0, 0.0},{5.0, 0.0, 10.0},{-5.0, 0.0, 10.0}};
+  sVec3D data[]  = {{0.0, 0.0, 0.0},{10.0, -5.0, 0.0},{10.0, 5.0, 0.0}};
 
   for(int i = 0; i < 3; ++i)

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

@@ -209 +209 @@
   printf("eigenvector: %f, %f, %f\n", V(1, 3), V(2, 3), V(3, 3));
 
+  box->axis = axis;
 
   /* now get the axis length */
@@ -229 +230 @@
   }
 
+  box->halfLength = halfLength;
+  
   printf("we got length: \n");
   for(int i = 0; i < 3; ++i)
@@ -260 +263 @@
 void OBBTreeNode::drawBV(int currentDepth, const int depth) const
 {
+  glBegin(GL_LINE_LOOP);
   glColor3f(1.0, 1.0, 1.0);
-  glBegin(GL_TRIANGLES);
   for(int i = 0; i < this->numOfVertices; ++i)
     {
@@ -273 +276 @@
 void OBBTreeNode::drawBVPolygon(int currentDepth, const int depth) const
 {
-  this->bvElement->axis;
-  
-  //glBegin(GL_TRIANGLE);
-  //glVertex3f(this->bvElement->center );
-  //glEnd();
+  glBegin(GL_LINES);
+  glColor3f(0.0, 0.4, 0.3);
+  glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z);
+  glVertex3f(this->bvElement->axis[0]->x * this->bvElement->halfLength[0], this->bvElement->axis[0]->y * this->bvElement->halfLength[0], this->bvElement->axis[0]->z * this->bvElement->halfLength[0]);
+
+  glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z);
+  glVertex3f(this->bvElement->axis[1]->x * this->bvElement->halfLength[1], this->bvElement->axis[1]->y * this->bvElement->halfLength[1], this->bvElement->axis[1]->z * this->bvElement->halfLength[1]);
+
+  glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z);
+  glVertex3f(this->bvElement->axis[2]->x * this->bvElement->halfLength[2], this->bvElement->axis[2]->y * this->bvElement->halfLength[2], this->bvElement->axis[2]->z * this->bvElement->halfLength[2]);
+  
+  glEnd();
 }