Changeset 4703 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection

Timestamp:

Jun 26, 2005, 2:14:31 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: now all three axis are checked, there seem to be some problems.

File:

• orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (5 diffs)

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

@@ -634 +634 @@
   Vector l;
 
+  /* All 3 axis of the object A */
   for( int j = 0; j < 3; ++j)
     {
@@ -641 +642 @@
 
       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));
-        }
-
-      PRINTF(0)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB);
+        rB += fabs(boxB->halfLength[i] * boxB->axis[i].dot(l));
+
+
+      PRINTF(3)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB);
 
       if( (rA + rB) < fabs(t.dot(l)))
@@ -659 +656 @@
     }
 
-
+    /* All 3 axis of the object B */
     for( int j = 0; j < 3; ++j)
     {
@@ -667 +664 @@
 
       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);
+
+
+      PRINTF(3)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB);
 
       if( (rA + rB) < fabs(t.dot(l)))
@@ -683 +676 @@
         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 */
-    }
+    }
+
+
+    /* Now check for all face cross products */
+
+      for( int j = 0; j < 3; ++j)
+      {
+        for(int k = 0; k < 3; ++k )
+        {
+          rA = 0.0f;
+          rB = 0.0f;
+          l = boxA->axis[j].cross(boxB->axis[k]);
+
+          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(3)("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;
+          }
+        }
+      }
+
+
+
 
     boxA->bCollided = true; /* use this ONLY!!!! for drawing operations */