Changeset 5492 in orxonox.OLD for trunk/src/lib/collision_detection

Timestamp:

Nov 4, 2005, 6:24:44 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk/src/lib/cd: the jacobi function does not produce correct values. stop work. looking for new approach

File:

• trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (2 diffs)

trunk/src/lib/collision_detection/obb_tree_node.cc

@@ -372 +372 @@
   OBBTreeNode::coMat[2][2] = box->covarianceMatrix[2][2];
 
-//   OBBTreeNode::coMat[0][0] = box->covarianceMatrix[0][0];
-//   OBBTreeNode::coMat[0][1] = box->covarianceMatrix[0][1];
-//   OBBTreeNode::coMat[0][2] = box->covarianceMatrix[0][2];
+
+//   OBBTreeNode::coMat[0][0] = 1;
+//   OBBTreeNode::coMat[0][1] = 2;
+//   OBBTreeNode::coMat[0][2] = 7;
 //
-//   OBBTreeNode::coMat[1][0] = box->covarianceMatrix[1][0];
-//   OBBTreeNode::coMat[1][1] = box->covarianceMatrix[1][1];
-//   OBBTreeNode::coMat[1][3] = box->covarianceMatrix[1][2];
+//   OBBTreeNode::coMat[1][0] = 2;
+//   OBBTreeNode::coMat[1][1] = 5;
+//   OBBTreeNode::coMat[1][2] = 5;
 //
-//   OBBTreeNode::coMat[2][0] = box->covarianceMatrix[2][0];
-//   OBBTreeNode::coMat[2][1] = box->covarianceMatrix[2][1];
-//   OBBTreeNode::coMat[2][2] = box->covarianceMatrix[2][2];
+//   OBBTreeNode::coMat[2][0] = 7;
+//   OBBTreeNode::coMat[2][1] = 5;
+//   OBBTreeNode::coMat[2][2] = 8;
+
+  OBBTreeNode::coMat[0][0] = box->covarianceMatrix[0][0];
+  OBBTreeNode::coMat[0][1] = box->covarianceMatrix[0][1];
+  OBBTreeNode::coMat[0][2] = box->covarianceMatrix[0][2];
+
+  OBBTreeNode::coMat[1][0] = box->covarianceMatrix[1][0];
+  OBBTreeNode::coMat[1][1] = box->covarianceMatrix[1][1];
+  OBBTreeNode::coMat[1][3] = box->covarianceMatrix[1][2];
+
+  OBBTreeNode::coMat[2][0] = box->covarianceMatrix[2][0];
+  OBBTreeNode::coMat[2][1] = box->covarianceMatrix[2][1];
+  OBBTreeNode::coMat[2][2] = box->covarianceMatrix[2][2];
 
 
@@ -409 +422 @@
   box->axis = axis;
 
-  PRINTF(0)("-- Got Axis\n");
-
-  PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[0].x, box->axis[0].y, box->axis[0].z);
-  PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[1].x, box->axis[1].y, box->axis[1].z);
-  PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[2].x, box->axis[2].y, box->axis[2].z);
+//   PRINTF(0)("-- Got Axis\n");
+//
+//   PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[0].x, box->axis[0].y, box->axis[0].z);
+//   PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[1].x, box->axis[1].y, box->axis[1].z);
+//   PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[2].x, box->axis[2].y, box->axis[2].z);
 }