Changeset 5489 in orxonox.OLD for trunk/src/lib/collision_detection

Timestamp:

Nov 4, 2005, 5:34:51 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk/src/lib/collision: rearanged the memory management and working on wrong array indexes…

File:

• trunk/src/lib/collision_detection/lin_alg.h (modified) (3 diffs)

trunk/src/lib/collision_detection/lin_alg.h

@@ -35 +35 @@
   //B = (float *) calloc(100, 32);
   //Z = (float *) calloc(100, 32);
-  B = new float[N];
-  Z = new float[N];
-
-
-  for( ip = 0; ip < 3; ip++) {  //initialize V to identity matrix
-    for( iq = 0; iq < 3; iq++)
+  B = new float[N+1];
+  Z = new float[N+1];
+
+  // initialize V to identity matrix
+  for( ip = 0; ip < N; ip++) {
+    for( iq = 0; iq < N; iq++)
       V[ip][iq] = 0.0f;
     V[ip][ip] = 1.0f;
   }
-  for( ip = 1; ip <= N; ip++) {
+  // initialize B,D to the diagonal of A
+  for( ip = 0; ip < N; ip++) {
     B[ip] = A[ip][ip];
     D[ip] = B[ip];
-    Z[ip] = 0;
+    Z[ip] = 0.0f;
   }
 
@@ -61 +62 @@
     if(sm == 0)
     {
-      free(B);
-      free(Z);
+      //free(B);
+      //free(Z);
+      delete[] B;
+      delete[] Z;
       return;       //normal return
     }
@@ -125 +128 @@
   } //end of main i loop
 //  printf("\n 50 iterations !\n");
-  free(B);
-  free(Z);
+  //free(B);
+  //free(Z);
+  delete[] B;
+  delete[] Z;
   return;  //too many iterations
 }