Changeset 4611 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection

Timestamp:

Jun 12, 2005, 11:52:45 PM (20 years ago)

Author:

patrick

Message:

orxonox/trunk: definition of the separation plane and partition of the vertex. some vector sVec3D modification

Location:

orxonox/trunk/src/lib/collision_detection

Files:

• obb_tree.cc (modified) (1 diff)
• obb_tree_node.cc (modified) (1 diff)

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

@@ -98 +98 @@
   int const length = 3;
   sVec3D* vertList = new sVec3D[length];
-  sVec3D data[length]  = {{5.0, 0.0, 0.0},{2.0, 0.0, 0.5},{14.0, 0.0, 0.0}};//, {5.0, 0.0, 1.0}, {12.0, 0.0, 8.0}, {3.0, 5.0, 4.9}};
+  sVec3D data[length]  = {{5.0, 0.0, 0.0},{2.0, 0.0, 5.0},{14.0, 0.0, 0.0}};//, {5.0, 0.0, 1.0}, {12.0, 0.0, 8.0}, {3.0, 5.0, 4.9}};
 
   for(int i = 0; i < length; ++i)

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

@@ -279 +279 @@
 
   /* get the closest vertex near the center */
-  float               dist = 0.0f;                         //!< the smallest distance to each vertex
+  float               dist = 999999.0f;                    //!< the smallest distance to each vertex
   float               tmpDist;                             //!< temporary distance
   int                 vertexIndex;
-  Plane               separationPlane(*box->axis[axisIndex], *box->center); //!< the separation plane definition
+  Plane               middlePlane(*box->axis[axisIndex], *box->center); //!< the middle plane
 
   for(int i = 0; i < box->numOfVertices; ++i)
   {
-    tmpDist = fabs(separationPlane.distancePoint(vertices[i]));
-    if( tmpDist > dist)
+    tmpDist = fabs(middlePlane.distancePoint(box->vertices[i]));
+    if( tmpDist < dist)
+    {
       dist = tmpDist;
-  }
-
+      vertexIndex = i;
+    }
+  }
 
   printf("\nthe clostest vertex is nr: %i, with a dist of: %f\n", vertexIndex ,dist);
+
+
+  /* now definin the separation plane through this specified nearest point and partition
+    the points depending on which side they are located
+  */
+  Plane              separationPlane(*box->axis[axisIndex], box->vertices[vertexIndex]);  //!< separation plane
+  tList<sVec3D>      partition1;                           //!< the vertex partition 1
+  tList<sVec3D>      partition2;                           //!< the vertex partition 2