Changeset 4585 in orxonox.OLD for orxonox/trunk/src/lib

Timestamp:

Jun 10, 2005, 4:05:04 AM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: fixed the axis length bug

Location:

orxonox/trunk/src/lib

Files:

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

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

@@ -220 +220 @@
   ax[2].r = *box->center; ax[2].a = *box->axis[2];
 
-  for(int i = 0; i < 3; ++i)
+  Plane p0(*box->axis[0], *box->center);
+  Plane p1(*box->axis[1], *box->center);
+  Plane p2(*box->axis[2], *box->center);
+  
+
+
+  halfLength[0] = 0.0f;
+  for(int j = 0; j < length; ++j)
   {
-    for(int j = 0; j < length; ++j)
-    {
-      tmpLength = ax[i].distancePoint(vertices[j]);
-      if( tmpLength > halfLength[i])
-        halfLength[i] = tmpLength; 
-    }
+    tmpLength = p0.distancePoint(vertices[j]);
+    if( tmpLength > halfLength[0])
+      halfLength[0] = tmpLength;
   }
+
+
+  halfLength[1] = 0.0f;
+  for(int j = 0; j < length; ++j)
+  {
+    tmpLength = p1.distancePoint(vertices[j]);
+    if( tmpLength > halfLength[1])
+      halfLength[1] = tmpLength;
+  }
+
+  halfLength[2] = 0.0f;
+  for(int j = 0; j < length; ++j)
+  {
+    tmpLength = p2.distancePoint(vertices[j]);
+    if( tmpLength > halfLength[2])
+      halfLength[2] = tmpLength;
+  }
+
+
+
+    
+//   for(int i = 0; i < 3; ++i)
+//   {
+//     halfLength[i] = 0.0f;
+//     for(int j = 0; j < length; ++j)
+//     {
+//       tmpLength = ax[i].distancePoint(vertices[j]);
+//       if( tmpLength > halfLength[i])
+//         halfLength[i] = tmpLength; 
+//     }
+//   }
 
   box->halfLength = halfLength;

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

@@ -675 +675 @@
 }
 
+
+/**
+   \brief returns the distance between the plane and a point
+   \param p: a Point
+   \return the distance between the plane and the point (can be negative)
+ */
+float Plane::distancePoint (const sVec3D& p) const
+{
+  Vector s(p[0], p[1], p[2]);
+  float l = n.len();
+  if( l == 0.0) return 0.0;
+  return (n.dot(s) + k) / n.len();
+}
+
+
 /**
    \brief returns the side a point is located relative to a Plane

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

@@ -225 +225 @@
   Vector intersectLine (const Line& l) const;
   float distancePoint (const Vector& p) const;
+  float distancePoint (const sVec3D& p) const;
   float locatePoint (const Vector& p) const;
 };