Changeset 4701 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection

Timestamp:

Jun 26, 2005, 1:10:20 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: now checking 6 of 15 axis

File:

• orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (3 diffs)

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

@@ -626 +626 @@
 bool OBBTreeNode::overlapTest(OBB* boxA, OBB* boxB, PNode* nodeA, PNode* nodeB)
 {
-  
-  
+
+
   /* first check all axis */
   Vector t = nodeA->getAbsCoor() + *boxA->center - ( nodeB->getAbsCoor() + *boxB->center);
@@ -634 +634 @@
   Vector l;
 
-  for(int j = 0; j < 3; ++j)
+  for( int j = 0; j < 3; ++j)
     {
       rA = 0.0f;
@@ -641 +641 @@
 
       for(int i = 0; i < 3; ++i)
-        {
-          rA += fabs(boxA->halfLength[i] * boxA->axis[i].dot(l));
-        }
-  
+        {
+          rA += fabs(boxA->halfLength[i] * boxA->axis[i].dot(l));
+        }
+
       for(int i = 0; i < 3; ++i)
-        {
-          rB += fabs(boxB->halfLength[i] * boxB->axis[i].dot(l));
-        }
-  
+        {
+          rB += fabs(boxB->halfLength[i] * boxB->axis[i].dot(l));
+        }
+
       PRINTF(0)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB);
 
       if( (rA + rB) < fabs(t.dot(l)))
-        PRINTF(0)(" - The Boxes are disjoint!\n");
-      else
-        PRINTF(0)(" - The Boxes are not disjoint\n");
-  
-      PRINTF(0)("rA = %f, rB = %f\n", rA, rB);
+      {
+        PRINTF(0)(" - Keine Kollision in der Bahnfohstrasse! Passagiere der Linien 6, 14 sind gebeten zu fliegen!\n");
+        return false;
+      }
+    }
+
+
+    for( int j = 0; j < 3; ++j)
+    {
+      rA = 0.0f;
+      rB = 0.0f;
+      l = boxB->axis[j];
+
+      for(int i = 0; i < 3; ++i)
+      {
+        rA += fabs(boxA->halfLength[i] * boxA->axis[i].dot(l));
+      }
+
+      for(int i = 0; i < 3; ++i)
+      {
+        rB += fabs(boxB->halfLength[i] * boxB->axis[i].dot(l));
+      }
+
+      PRINTF(0)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB);
+
+      if( (rA + rB) < fabs(t.dot(l)))
+      {
+        PRINTF(0)(" - Keine Kollision in der Bahnfohstrasse! Passagiere der Linien 6, 14 sind gebeten zu fliegen!\n");
+        return false;
+      }
+
+
+//       else
+//      PRINTF(0)(" - The Boxes are not disjoint\n");
+
+      //PRINTF(0)("rA = %f, rB = %f\n", rA, rB);
 
 
       /* now check all orthogonals from the axis */
-
-    }
-  return false;
+    }
+
+  return true;
 }