Changeset 4668 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection

Timestamp:

Jun 23, 2005, 6:10:42 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: the cubes have now minimal length

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

@@ -99 +99 @@
   int const length = 9;
   sVec3D* vertList = new sVec3D[length];
-  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}};
+//   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}};
+
+  sVec3D data[length]  = {{0.0, 0.0, 0.0},{1.0, 2.0, 5.0},{1.0, 5.0, 30.0},
+                          {0.0, 3.0, 23.0}, {0.0, 6.0, 9.0}, {0.0, 10.0, 35.0},
+                          {1.0, 4.0, 12.0}, {1.0, 2.0, 16.0}, {0.0, 0.0, 19.0}};
 
   for(int i = 0; i < length; ++i)

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

@@ -451 +451 @@
 
    /* calculate the real centre of the body by using the axis length */
-   float center[3];
-   float offset[3];
+   float centerOffset[3];
+   float newHalfLength[3];
    for(int i = 0; i < 3; ++i)
      {
        PRINTF(0)("max: %f, min: %f \n", maxLength[i], minLength[i]);
-       center[i] = (maxLength[i] - minLength[i]) / 2.0f; // min length is negative
-       offset[i] = halfLength[i] - center[i];
+       centerOffset[i] = (maxLength[i] + minLength[i]) / 2.0f; // min length is negatie
+       newHalfLength[i] = (maxLength[i] - minLength[i]) / 2.0f; // min length is negative
        //PRINTF(0)("Center Orig: %f, %f, %f ---- new: %f, %f, %f", box->center[]);
-       *box->center +=  (box->axis[i] * offset[i]);            // update the new center vector
-       PRINTF(0)("Center Translation Operation: halfLength old: %f, new: %f\n", halfLength[i], center[i]);
-       halfLength[i] = center[i];
+       *box->center +=  (box->axis[i] * centerOffset[i]);            // update the new center vector
+       //PRINTF(0)("Center Translation Operation: halfLength old: %f, new: %f\n", halfLength[i], center[i]);
+       halfLength[i] = newHalfLength[i];
      }