Changeset 4695 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection

Timestamp:

Jun 24, 2005, 11:15:12 PM (20 years ago)

Author:

patrick

Message:

orxonox/trunk: no only the overlap test is missing

Location:

orxonox/trunk/src/lib/collision_detection

Files:

• bv_tree.h (modified) (2 diffs)
• bv_tree_node.h (modified) (1 diff)
• cd_engine.cc (modified) (1 diff)
• obb_tree.cc (modified) (1 diff)
• obb_tree.h (modified) (1 diff)
• obb_tree_node.cc (modified) (2 diffs)
• obb_tree_node.h (modified) (2 diffs)

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

@@ -14 +14 @@
 // FORWARD DEFINITION
 class BoundingVolume;
+class BVTreeNode;
 
 typedef enum DrawMode
@@ -38 +39 @@
   virtual void flushTree() = NULL;
 
+  virtual void collideWith(BVTree* tree) = NULL;
+
   virtual void drawBV(int depth, int drawMode) const = NULL;
+
 
  protected:

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

@@ -29 +29 @@
   inline const int getIndex() { return this->treeIndex; }
 
-  virtual void collideWith(const BVTree &tree) = NULL;
+  virtual void collideWith(BVTreeNode* treeNode) = NULL;
 
   virtual void drawBV(int depth, int drawMode) const = NULL;

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

@@ -54 +54 @@
 
 
+/**
+  \brief this is the collision checking function
+
+  there are some speed improvements that can be done here. a rewrite of the list a would be appropriate to
+  be able to enhance iteration speed.
+ */
 void CDEngine::checkCollisions()
 {

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

@@ -103 +103 @@
 
 
-void OBBTree::collideWith(const OBBTree &tree)
-{}
+void OBBTree::collideWith(BVTree* tree)
+{
+  //this->rootNode->collideWith(tree->);
+}
 
 

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

@@ -27 +27 @@
     virtual void flushTree();
 
-    void collideWith(const OBBTree &tree);
+    virtual void collideWith(BVTree* tree);
 
     virtual void drawBV(int depth, int drawMode) const;

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

@@ -530 +530 @@
   tList<sVec3D>      partition2;                           //!< the vertex partition 2
 
-  printf("vertex index: %i, of %i\n", vertexIndex, box->numOfVertices);
+  PRINTF(3)("vertex index: %i, of %i\n", vertexIndex, box->numOfVertices);
   this->separationPlane = new Plane(box->axis[axisIndex], box->vertices[vertexIndex]);  //!< separation plane
   this->sepPlaneCenter = &box->vertices[vertexIndex];
@@ -604 +604 @@
 
 
-void OBBTreeNode::collideWith(const BVTree &tree)
-{}
-
-
+void OBBTreeNode::collideWith(BVTreeNode* treeNode)
+{
+  /* if the obb overlap, make subtests: check which node is realy overlaping  */
+  if( this->overlapTest(this->bvElement, ((OBBTreeNode*)treeNode)->bvElement))
+  {
+    /* check if left node overlaps */
+    if( unlikely( this->nodeLeft != NULL))
+      if( this->overlapTest(this->nodeLeft->bvElement, ((OBBTreeNode*)treeNode)->bvElement))
+        this->nodeLeft->collideWith(((OBBTreeNode*)treeNode)->nodeLeft);
+    /* check if right node overlaps */
+    if( unlikely( this->nodeRight != NULL))
+      if(this->overlapTest(this->nodeRight->bvElement, ((OBBTreeNode*)treeNode)->bvElement))
+        this->nodeLeft->collideWith(((OBBTreeNode*)treeNode)->nodeRight);
+  }
+}
+
+
+
+bool OBBTreeNode::overlapTest(OBB* boxA, OBB* boxB)
+{
+
+}
 
 

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

@@ -33 +33 @@
     inline void setTreeRef(OBBTree* tree) { this->obbTree = tree;}
 
-    virtual void collideWith(const BVTree &tree);
+    virtual void collideWith(BVTreeNode* treeNode);
 
     virtual void drawBV(int depth, int drawMode) const;
@@ -45 +45 @@
     void forkBox(OBB* box);
 
+    bool overlapTest(OBB* boxA, OBB* boxB);
 
   protected: