Changeset 4674 in orxonox.OLD for orxonox/trunk

Timestamp:

Jun 23, 2005, 10:02:31 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: the bounding boxes are now aligned to the vertices, finally! Now it realy looks reasonable - now comes collision detection itself … hehhehehehehe

Location:

orxonox/trunk/src/lib/collision_detection

Files:

• lin_alg.h (modified) (1 diff)
• obb_tree_node.cc (modified) (7 diffs)

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

@@ -27 +27 @@
 int     i,j,ip,iq;
 
-void *vmblock1 = NULL;
+// void *vmblock1 = NULL;
 
   //allocate vectors B, Z

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

@@ -149 +149 @@
   Vector    t1, t2;                                  //!< temporary values
   float     covariance[3][3];                        //!< the covariance matrix
-  int       mode = 3;                                //!< mode = 0: vertex soup, no connections, mode = 1: 3 following verteces build a triangle
+  int       mode = 0;                                //!< mode = 0: vertex soup, no connections, mode = 1: 3 following verteces build a triangle
 
   this->numOfVertices = length;
@@ -305 +305 @@
 
 
-//   PRINTF(3)("\nCovariance Matrix:\n");
-//   for(int j = 0; j < 3; ++j)
-//   {
-//     PRINTF(3)(" |");
-//     for(int k = 0; k < 3; ++k)
-//     {
-//       PRINTF(3)(" \b%f ", covariance[j][k]);
-//     }
-//     PRINTF(3)(" |\n");
-//   }
+  PRINTF(0)("\nCovariance Matrix:\n");
+  for(int j = 0; j < 3; ++j)
+  {
+    PRINT(0)(" |");
+    for(int k = 0; k < 3; ++k)
+    {
+      PRINT(0)(" \b%f ", covariance[j][k]);
+    }
+    PRINT(0)(" |\n");
+  }
+
   PRINTF(3)("center: %f, %f, %f\n", center.x, center.y, center.z);
 
 
-//   for(int i = 0; i < 3; ++i)
-//   {
-//     box->covarianceMatrix[i][0] = covariance[i][0];
-//     box->covarianceMatrix[i][1] = covariance[i][1];
-//     box->covarianceMatrix[i][3] = covariance[i][2];
-//   }
+  for(int i = 0; i < 3; ++i)
+  {
+    box->covarianceMatrix[i][0] = covariance[i][0];
+    box->covarianceMatrix[i][1] = covariance[i][1];
+    box->covarianceMatrix[i][2] = covariance[i][2];
+  }
   *box->center = center;
   PRINTF(3)("-- Written Result to obb\n");
@@ -368 +369 @@
   PRINTF(3)("-- Got Axis\n");
 
-  PRINTF(3)("eigenvector: %f, %f, %f\n", box->axis[0].x, box->axis[0].y, box->axis[0].z);
-  PRINTF(3)("eigenvector: %f, %f, %f\n", box->axis[1].x, box->axis[1].y, box->axis[1].z);
-  PRINTF(3)("eigenvector: %f, %f, %f\n", box->axis[2].x, box->axis[2].y, box->axis[2].z);
+  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);
 }
 
@@ -455 +456 @@
    for(int i = 0; i < 3; ++i)
      {
-       PRINTF(0)("max: %f, min: %f \n", maxLength[i], minLength[i]);
+       PRINTF(3)("max: %f, min: %f \n", maxLength[i], minLength[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] * 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];
      }
@@ -638 +637 @@
 
   /* draw world axes */
-//   glBegin(GL_LINES);
-//   glColor3f(0.0, 0.4, 0.3);
-//   glVertex3f(0.0, 0.0, 0.0);
-//   glVertex3f(3.0, 0.0, 0.0);
-//
-//   glVertex3f(0.0, 0.0, 0.0);
-//   glVertex3f(0.0, 3.0, 0.0);
-//
-//   glVertex3f(0.0, 0.0, 0.0);
-//   glVertex3f(0.0, 0.0, 3.0);
-//   glEnd();
+  glBegin(GL_LINES);
+  glColor3f(0.0, 0.4, 0.3);
+  glVertex3f(0.0, 0.0, 0.0);
+  glVertex3f(3.0, 0.0, 0.0);
+
+  glVertex3f(0.0, 0.0, 0.0);
+  glVertex3f(0.0, 3.0, 0.0);
+
+  glVertex3f(0.0, 0.0, 0.0);
+  glVertex3f(0.0, 0.0, 3.0);
+  glEnd();
 
 
@@ -677 +676 @@
 
 
+  /* DRAW POLYGONS */
   if( drawMode & DRAW_BV_POLYGON || drawMode & DRAW_ALL || drawMode & DRAW_BV_BLENDED)
   {
@@ -802 +802 @@
   }
 
+  /* DRAW SEPARATING PLANE */
   if( drawMode & DRAW_SEPARATING_PLANE || drawMode & DRAW_ALL)
   {