Changeset 4638 in orxonox.OLD for orxonox/trunk

Timestamp:

Jun 16, 2005, 1:42:14 AM (20 years ago)

Author:

patrick

Message:

orxonox/trunk: changed the way the data is displayed, now supports colors and stuff. noticed some data drawing problems. the tree separation seems so work perfectly but the graphical data representation is buggy

Location:

orxonox/trunk/src

Files:

• lib/collision_detection/obb_tree.cc (modified) (3 diffs)
• lib/collision_detection/obb_tree.h (modified) (2 diffs)
• lib/collision_detection/obb_tree_node.cc (modified) (19 diffs)
• lib/collision_detection/obb_tree_node.h (modified) (1 diff)
• subprojects/collision_detection/collision_detection.cc (modified) (5 diffs)

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

@@ -33 +33 @@
   this->setClassID(CL_OBB_TREE, "OBBTree");
 
-  material = new Material*[3];
-  for(int i = 0; i < 3; ++i)
+  material = new Material*[5];
+  for(int i = 0; i < 5; ++i)
   {
     material[i] = new Material();
-    material[i]->setIllum(0);
+    material[i]->setIllum(3);
   }
   material[0]->setAmbient(0.0, 0.3, 0.0);
-  material[1]->setAmbient(0.0, 0.0, 0.2);
+  material[1]->setAmbient(0.4, 0.0, 0.2);
   material[2]->setAmbient(1.0, 0.0, 0.0);
+  material[3]->setAmbient(5.0, 3.0, 1.0);
+  material[4]->setAmbient(1.0, 0.0, 7.0);
+
+  this->id = 0;
 }
 
@@ -93 +97 @@
 
   /* generate some test vertices */
-  int const length = 6;
+  int const length = 9;
   sVec3D* vertList = new sVec3D[length];
-  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}};
+  sVec3D data[length]  = {{0.0, 0.0, 0.0},{1.0, 2.0, 5.0},{0.0, 6.0, 9.0},
+                          {1.0, 4.0, 12.0}, {1.0, 2.0, 16.0}, {0.0, 0.0, 19.0},
+                          {0.0, 3.0, 23.0}, {1.0, 5.0, 30.0}, {0.0, 10.0, 35.0}};
 
   for(int i = 0; i < length; ++i)
@@ -104 +110 @@
     }
 
-  this->spawnBVTree(2, vertList, length);
+  this->spawnBVTree(3, vertList, length);
 
   PRINT(0)("=  Spawning Tree: Finished\n");

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

@@ -29 +29 @@
     virtual void drawBV(int depth, int drawMode) const;
 
-    Material* getMaterial(unsigned int depth) { return material[depth%3]; }
+    Material* getMaterial(unsigned int depth) { return material[depth%5]; }
+    int getID() { return ++this->id;}
+
 
     void debug();
@@ -40 +42 @@
     OBBTreeNode*         rootNode;                        //!< reference to the root node of the tree
     Material**           material;
-
+    int                  id;
 };
 

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

@@ -30 +30 @@
 #define WANT_FSTREAM
 
+#include "stdincl.h"
 
 #include "include.h"
@@ -77 +78 @@
   if( rotCount == NULL)
     rotCount = new int;
+
+  this->sphereObj = gluNewQuadric();
 }
 
@@ -97 +100 @@
 void OBBTreeNode::spawnBVTree(const int depth, sVec3D *verticesList, const int length)
 {
-  printf("OBB Depth: %i, numVertices: %i\n", depth, length);
+  PRINT(0)("\n");
+  this->treeIndex = this->obbTree->getID();
+  PRINTF(0)("OBB Depth: %i, tree index: %i, numVertices: %i\n", depth, treeIndex, length);
   this->depth = depth;
 
+
   this->bvElement = new OBB();
-  PRINTF(0)("Created OBBox\n");
+  this->bvElement->vertices = verticesList;
+  this->bvElement->numOfVertices = length;
+  PRINTF(3)("Created OBBox\n");
   this->calculateBoxCovariance(this->bvElement, verticesList, length);
-  PRINTF(0)("Calculated attributes1\n");
+  PRINTF(3)("Calculated attributes1\n");
   this->calculateBoxEigenvectors(this->bvElement, verticesList, length);
-  PRINTF(0)("Calculated attributes2\n");
+  PRINTF(3)("Calculated attributes2\n");
   this->calculateBoxAxis(this->bvElement, verticesList, length);
-  PRINTF(0)("Calculated attributes3\n");
+  PRINTF(3)("Calculated attributes3\n");
 
 
@@ -114 +122 @@
     this->forkBox(this->bvElement);
 
-    OBBTreeNode*       node1 = new OBBTreeNode();
-    OBBTreeNode*       node2 = new OBBTreeNode();
-
-    this->nodeLeft = node1;
-    this->nodeRight = node2;
-
-    this->nodeLeft->spawnBVTree(depth - 1, this->tmpVert1, this->tmpLen1);
-    this->nodeRight->spawnBVTree(depth - 1, this->tmpVert2, this->tmpLen2);
+
+    if(this->tmpLen1 > 2)
+    {
+      OBBTreeNode* node1 = new OBBTreeNode();
+      this->nodeLeft = node1;
+      this->nodeLeft->spawnBVTree(depth - 1, this->tmpVert1, this->tmpLen1);
+    }
+    else
+    {
+      PRINTF(0)("Aboarding tree walk: less than 3 vertices left\n");
+    }
+
+    if( this->tmpLen2 > 2)
+    {
+      OBBTreeNode* node2 = new OBBTreeNode();
+      this->nodeRight = node2;
+      this->nodeRight->spawnBVTree(depth - 1, this->tmpVert2, this->tmpLen2);
+    }
+    else
+    {
+      PRINTF(0)("Aboarding tree walk: less than 3 vertices left\n");
+    }
 
   }
@@ -140 +162 @@
   this->numOfVertices = length;
   this->vertices = verticesList;
-  box->vertices = verticesList;
-  box->numOfVertices = length;
+
+
 
 
@@ -165 +187 @@
   /* take the average of the centroid sum */
   center /= face;
-  PRINTF(0)("-- Calculated Center\n");
+  PRINTF(3)("-- Calculated Center\n");
 
 
@@ -184 +206 @@
     }
   }
-  PRINTF(0)("-- Calculated Covariance\n");
-
-
-//   printf("\nVertex Data:\n");
-//   for(int i = 0; i < length; i++)
-//   {
-//     printf("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]);
-//   }
-
-//   printf("\nCovariance Matrix:\n");
+  PRINTF(3)("-- Calculated Covariance\n");
+
+
+  PRINTF(0)("\nVertex Data:\n");
+  for(int i = 0; i < length; i++)
+  {
+    //PRINTF(0)("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]);
+    PRINTF(0)("vertex %i: %f, %f, %f\n", i, box->vertices[i][0], box->vertices[i][1], box->vertices[i][2]);
+  }
+
+//   PRINTF(3)("\nCovariance Matrix:\n");
 //   for(int j = 0; j < 3; ++j)
 //   {
-//     printf(" |");
+//     PRINTF(3)(" |");
 //     for(int k = 0; k < 3; ++k)
 //     {
-//       printf(" \b%f ", covariance[j][k]);
+//       PRINTF(3)(" \b%f ", covariance[j][k]);
 //     }
-//     printf(" |\n");
+//     PRINTF(3)(" |\n");
 //   }
-  PRINTF(0)("center: %f, %f, %f\n", center.x, center.y, center.z);
+  PRINTF(3)("center: %f, %f, %f\n", center.x, center.y, center.z);
 
 
@@ -213 +236 @@
 //   }
   *box->center = center;
-  PRINTF(0)("-- Written Result to obb\n");
+  PRINTF(3)("-- Written Result to obb\n");
 }
 
@@ -235 +258 @@
   /* new jacobi tests */
   JacobI(coMat, 3, eigvlMat, eigvMat, rotCount);
-  PRINTF(0)("-- Done Jacobi Decomposition\n");
-
-
-//   printf("Jacobi\n");
+  PRINTF(3)("-- Done Jacobi Decomposition\n");
+
+
+//   PRINTF(3)("Jacobi\n");
 //   for(int j = 1; j < 4; ++j)
 //   {
-//     printf(" |");
+//     PRINTF(3)(" |");
 //     for(int k = 1; k < 4; ++k)
 //     {
-//       printf(" \b%f ", eigvMat[j][k]);
+//       PRINTF(3)(" \b%f ", eigvMat[j][k]);
 //     }
-//     printf(" |\n");
+//     PRINTF(3)(" |\n");
 //   }
 
@@ -253 +276 @@
   axis[2] = new Vector(eigvMat[1][3], eigvMat[2][3], eigvMat[3][3]);
   box->axis = axis;
-  PRINTF(0)("-- Got Axis\n");
-
-//   printf("\neigenvector: %f, %f, %f\n", box->axis[0]->x, box->axis[0]->y, box->axis[0]->z);
-//   printf("eigenvector: %f, %f, %f\n", box->axis[1]->x, box->axis[1]->y, box->axis[1]->z);
-//   printf("eigenvector: %f, %f, %f\n", box->axis[2]->x, box->axis[2]->y, box->axis[2]->z);
+  PRINTF(3)("-- Got Axis\n");
+
+  PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[0]->x, box->axis[0]->y, box->axis[0]->z);
+  PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[1]->x, box->axis[1]->y, box->axis[1]->z);
+  PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[2]->x, box->axis[2]->y, box->axis[2]->z);
 }
 
@@ -297 +320 @@
 
   box->halfLength = halfLength;
-  PRINTF(0)("-- Written Axis to obb\n");
-  PRINTF(0)("-- Finished Calculating Attributes\n");
-
-//   printf("\nwe got length: \n");
-//   for(int i = 0; i < 3; ++i)
-//     printf("length[%i] = %f\n", i, box->halfLength[i]);
+  PRINTF(3)("-- Written Axis to obb\n");
+  PRINTF(3)("-- Finished Calculating Attributes\n");
+
+
+
+//   PRINTF(3)("\nwe got length: \n");
+  for(int i = 0; i < 3; ++i)
+  {
+    //if( box->halfLength[i] == 0.0)
+      PRINTF(0)("length[%i] = %f\n", i, box->halfLength[i]);
+  }
 }
 
@@ -328 +356 @@
   }
 
-//   printf("\nlongest axis is: nr %i with a half-length of: %f\n", axisIndex, aLength);
+   PRINTF(0)("longest axis is: nr %i with a half-length of: %f\n", axisIndex, aLength);
 
 
@@ -347 +375 @@
   }
 
-//   printf("\nthe clostest vertex is nr: %i, with a dist of: %f\n", vertexIndex ,dist);
+//   PRINTF(3)("\nthe clostest vertex is nr: %i, with a dist of: %f\n", vertexIndex ,dist);
 
 
@@ -370 +398 @@
   partition1.add(&box->vertices[vertexIndex]);
 
-//   printf("\npartition1: got %i vertices/ partition 2: got %i vertices\n", partition1.getSize(), partition2.getSize());
+//   PRINTF(3)("\npartition1: got %i vertices/ partition 2: got %i vertices\n", partition1.getSize(), partition2.getSize());
 
 
@@ -395 +423 @@
   }
 
-//   printf("\npartition 1:\n");
+//   PRINTF(0)("\npartition 1:\n");
 //   for(int i = 0; i < partition1.getSize(); ++i)
 //   {
-//     printf("v[%i][0] = %f\n", i, vertList1[i][0]);
-//     printf("v[%i][1] = %f\n", i, vertList1[i][1]);
-//     printf("v[%i][2] = %f\n", i, vertList1[i][2]);
+//     PRINTF(0)("v[%i][0] = %f,\tv[%i][1] = %f,\tv[%i][1] = %f\n", i, vertList1[i][0], i, vertList1[i][1], i, vertList1[i][2]);
 //   }
 
@@ -420 +446 @@
   this->tmpLen2 = partition2.getSize();
 
-  //delete iterator;
-//   printf("\npartition 2:\n");
+  delete iterator;
+
+//   PRINTF(0)("\npartition 2:\n");
 //   for(int i = 0; i < partition2.getSize(); ++i)
 //   {
-//     printf("v[%i][0] = %f\n", i, vertList2[i][0]);
-//     printf("v[%i][1] = %f\n", i, vertList2[i][1]);
-//     printf("v[%i][2] = %f\n", i, vertList2[i][2]);
+//     PRINTF(0)("v[%i][0] = %f,\tv[%i][1] = %f,\tv[%i][1] = %f\n", i, vertList2[i][0], i,  vertList2[i][1], i, vertList2[i][2]);
 //   }
 }
@@ -441 +466 @@
 void OBBTreeNode::drawBV(int depth, int drawMode) const
 {
-  //OBBTree::material->select();
-
-  this->obbTree->getMaterial(depth)->select();
+  this->obbTree->getMaterial(treeIndex)->select();
 
   /* draw the model itself, there is some problem concerning this: the vertices are drawn multiple times */
   if( drawMode & DRAW_MODEL || drawMode & DRAW_ALL)
   {
-    glBegin(GL_TRIANGLES);
-    glColor3f(1.0, 1.0, 1.0);
-    for(int i = 0; i < this->bvElement->numOfVertices; ++i)
-    {
-      glVertex3f(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]);
-      //printf("v(%f, %f, %f)\n", this->vertices[i][0], this->vertices[i][1], this->vertices[i][2]);
-    }
-    glEnd();
+    if( !(drawMode & DRAW_SINGLE && depth != 0))
+    {
+      glBegin(GL_LINE_STRIP);
+      for(int i = 0; i < this->bvElement->numOfVertices; ++i)
+      {
+        glPushMatrix();
+        glMatrixMode(GL_MODELVIEW);
+      //glVertex3f(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]);
+        glTranslatef(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]);
+        gluSphere(this->sphereObj, 1, 10, 10);
+        //PRINTF(0)("v(%f, %f, %f)\n", this->vertices[i][0], this->vertices[i][1], this->vertices[i][2]);
+        glPopMatrix();
+      }
+      glEnd();
+    }
   }
 
@@ -509 +539 @@
     /* draw bounding box */
     glBegin(GL_LINE_LOOP);
-    glColor3f(0.3, 0.4, 0.7);
     glVertex3f(cen.x + axis[0]->x * len[0] + axis[1]->x * len[1] + axis[2]->x * len[2],
                cen.y + axis[0]->y * len[0] + axis[1]->y * len[1] + axis[2]->y * len[2],
@@ -606 +635 @@
   for(int i = 0; i < length; i++)
   {
-  printf("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]);
+  PRINTF(3)("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]);
 }
   */

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

@@ -72 +72 @@
     static float*        eigvlMat;                  //!< temp eigenvalue vector save place
     static int*          rotCount;                  //!< temp rotations count save place: how many givens-rotations where needed to transform the matrix :)
+
+    GLUquadricObj*    sphereObj;
 };
 

orxonox/trunk/src/subprojects/collision_detection/collision_detection.cc

@@ -37 +37 @@
 {
   CDEngine::getInstance();
-  //CDEngine::getInstance()->debug();
-
-  model = new MD2Model("models/tris.md2", "models/tris.pcx");
-  model->tick(0.1f);
+  CDEngine::getInstance()->debug();
+
+  //model = new MD2Model("models/tris.md2", "models/tris.pcx");
+  //model->tick(0.1f);
 
 //   int const length = 6;
@@ -53 +53 @@
 //   }
 
-  CDEngine::getInstance()->debugSpawnTree(7, model->data->pVertices, model->data->numVertices);
+  //CDEngine::getInstance()->debugSpawnTree(3, model->data->pVertices, model->data->numVertices);
 
 
@@ -59 +59 @@
   lightMan->setAmbientColor(.1,.1,.1);
   lightMan->addLight();
+  lightMan->setPosition(30, 30, 30);
   lightMan->addLight();
-  lightMan->setPosition(10, 20, 100);
+  lightMan->setPosition(-30, -30, -30);
 
   drawMode = DRAW_MODEL;
@@ -71 +72 @@
   printf(" -| Displaying Separation Plane\t s\n");
   printf("\n");
+  printf(" -| Tree Depth 0\t\t 0\n");
   printf(" -| Tree Depth 1\t\t 1\n");
   printf(" -| Tree Depth 2\t\t 2\n");
@@ -90 +92 @@
           drawMode |= DRAW_ALL;
           break;
+        case SDLK_0:
+        {
+          printf("Setting tree depth = 0\n");
+          depth = 0;
+          int temp = drawMode & DRAW_ALL;
+          drawMode ^= temp;
+          drawMode |= DRAW_SINGLE;
+          break;
+        }
         case SDLK_1:
         {