Changeset 5430 in orxonox.OLD for trunk/src/lib/collision_detection

Timestamp:

Oct 24, 2005, 9:21:15 PM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: static definitions

Location:

trunk/src/lib/collision_detection

Files:

• obb_tree_node.cc (modified) (6 diffs)
• obb_tree_node.h (modified) (1 diff)

trunk/src/lib/collision_detection/obb_tree_node.cc

@@ -37 +37 @@
 OBBTree*  OBBTreeNode::obbTree = NULL;
 
-float**  OBBTreeNode::coMat = NULL;
-float**  OBBTreeNode::eigvMat = NULL;
-float*   OBBTreeNode::eigvlMat = NULL;
-int*     OBBTreeNode::rotCount = NULL;
+float**  OBBTreeNode_coMat = NULL;
+float**  OBBTreeNode_eigvMat = NULL;
+float*   OBBTreeNode_eigvlMat = NULL;
+int*     OBBTreeNode_rotCount = NULL;
+GLUquadricObj* OBBTreeNode_sphereObj = NULL;
 
 /**
@@ -52 +53 @@
   this->bvElement = NULL;
 
-  if(coMat == NULL)
-  {
-    coMat = new float*[4];
+  if(OBBTreeNode_coMat == NULL)
+  {
+    OBBTreeNode_coMat = new float*[4];
     for(int i = 0; i < 4; i++)
-      coMat[i] = new float[4];
-  }
-  if(eigvMat == NULL)
-  {
-    eigvMat = new float*[4];
+      OBBTreeNode_coMat[i] = new float[4];
+  }
+  if(OBBTreeNode_eigvMat == NULL)
+  {
+    OBBTreeNode_eigvMat = new float*[4];
     for(int i = 0; i < 4; i++)
-      eigvMat[i] = new float[4];
-  }
-  if( eigvlMat == NULL)
-  {
-    eigvlMat = new float[4];
-  }
-  if( rotCount == NULL)
-    rotCount = new int;
-
-  this->sphereObj = gluNewQuadric();
+      OBBTreeNode_eigvMat[i] = new float[4];
+  }
+  if( OBBTreeNode_eigvlMat == NULL)
+  {
+    OBBTreeNode_eigvlMat = new float[4];
+  }
+  if( OBBTreeNode_rotCount == NULL)
+    OBBTreeNode_rotCount = new int;
+
+  if (OBBTreeNode_sphereObj == NULL)
+    OBBTreeNode_sphereObj = gluNewQuadric();
 }
 
@@ -358 +360 @@
   Vector*              axis = new Vector[3];                //!< the references to the obb axis
 
-  coMat[1][1] = box->covarianceMatrix[0][0]; coMat[1][2] = box->covarianceMatrix[0][1]; coMat[1][3] = box->covarianceMatrix[0][2];
-  coMat[2][1] = box->covarianceMatrix[1][0]; coMat[2][2] = box->covarianceMatrix[1][1]; coMat[2][3] = box->covarianceMatrix[1][2];
-  coMat[3][1] = box->covarianceMatrix[2][0]; coMat[3][2] = box->covarianceMatrix[2][1]; coMat[3][3] = box->covarianceMatrix[2][2];
+  OBBTreeNode_coMat[1][1] = box->covarianceMatrix[0][0]; OBBTreeNode_coMat[1][2] = box->covarianceMatrix[0][1]; OBBTreeNode_coMat[1][3] = box->covarianceMatrix[0][2];
+  OBBTreeNode_coMat[2][1] = box->covarianceMatrix[1][0]; OBBTreeNode_coMat[2][2] = box->covarianceMatrix[1][1]; OBBTreeNode_coMat[2][3] = box->covarianceMatrix[1][2];
+  OBBTreeNode_coMat[3][1] = box->covarianceMatrix[2][0]; OBBTreeNode_coMat[3][2] = box->covarianceMatrix[2][1]; OBBTreeNode_coMat[3][3] = box->covarianceMatrix[2][2];
 
 //   OBBTreeNode::coMat[0][0] = box->covarianceMatrix[0][0];
@@ -376 +378 @@
 
   /* new jacobi tests */
-  JacobI(OBBTreeNode::coMat, 3, eigvlMat, eigvMat, rotCount);
+  JacobI(OBBTreeNode_coMat, 3, OBBTreeNode_eigvlMat, OBBTreeNode_eigvMat, OBBTreeNode_rotCount);
   PRINTF(3)("-- Done Jacobi Decomposition\n");
 
@@ -386 +388 @@
 //     for(int k = 1; k < 4; ++k)
 //     {
-//       PRINTF(3)(" \b%f ", eigvMat[j][k]);
+//       PRINTF(3)(" \b%f ", OBBTreeNode_OBBTreeNode_eigvMat[j][k]);
 //     }
 //     PRINTF(3)(" |\n");
 //   }
 
-  axis[0].x = eigvMat[1][1]; axis[0].y = eigvMat[2][1]; axis[0].z = eigvMat[3][1];
-  axis[1].x = eigvMat[1][2]; axis[1].y = eigvMat[2][2]; axis[1].z = eigvMat[3][2];
-  axis[2].x = eigvMat[1][3]; axis[2].y = eigvMat[2][3]; axis[2].z = eigvMat[3][3];
+  axis[0].x = OBBTreeNode_eigvMat[1][1]; axis[0].y = OBBTreeNode_eigvMat[2][1]; axis[0].z = OBBTreeNode_eigvMat[3][1];
+  axis[1].x = OBBTreeNode_eigvMat[1][2]; axis[1].y = OBBTreeNode_eigvMat[2][2]; axis[1].z = OBBTreeNode_eigvMat[3][2];
+  axis[2].x = OBBTreeNode_eigvMat[1][3]; axis[2].y = OBBTreeNode_eigvMat[2][3]; axis[2].z = OBBTreeNode_eigvMat[3][3];
   axis[0].normalize();
   axis[1].normalize();
@@ -815 +817 @@
           glPushMatrix();
           glTranslatef(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]);
-          gluSphere(this->sphereObj, 0.1, 10, 10);
+          gluSphere(OBBTreeNode_sphereObj, 0.1, 10, 10);
           glPopMatrix();
         }

trunk/src/lib/collision_detection/obb_tree_node.h

@@ -69 +69 @@
     int                 tmpLen1;                    //!< len vert data obbox1
     int                 tmpLen2;                    //!< len vert data obbox2
-
-    static float**      coMat;                      //!< temp covariance matrice save place - consumes less mem
-    static float**      eigvMat;                    //!< temp eigenvector matrice save place
-    static float*       eigvlMat;                   //!< temp eigenvalue vector save place
-    static int*         rotCount;                   //!< temp rotations count save place: how many givens-rotations where needed to transform the matrix :)
-
-    GLUquadricObj*      sphereObj;
 };