Changeset 5493 in orxonox.OLD for trunk/src/lib/collision_detection

Timestamp:

Nov 4, 2005, 6:43:46 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: the other jacobi functions doesn't work neither. there is only the possibility to implement it by myself or to search the web for other 2 hours…

Location:

trunk/src/lib/collision_detection

Files:

• lin_alg.h (modified) (7 diffs)
• obb_tree_node.cc (modified) (1 diff)

trunk/src/lib/collision_detection/lin_alg.h

@@ -462 +462 @@
 
 
-
-
-
-
-//  void jacobi(Matrix A, int n, sVec3D d, Matrix V, int *nRot)
-// {
-//   sVec3D  B, Z;
-//   double  c, g, h, s, sm, t, tau, theta, tresh;
-//   int     i, j, ip, iq;
-//
-//   void *vmblock1 = NULL;
+// void jacobi(float **A, float *D, float **V, int *nRot) {
+//
+// int n = 3;
+//
+// float   *B, *Z;
+// double  c=0.0f, g=0.0f, h=0.0f, s=0.0f, sm=0.0f, t=0.0f, tau=0.0f, theta=0.0f, tresh=0.0f;
+// int     i = 0, j = 0, ip = 0, iq = 0;
+//
+//   //void *vmblock1 = NULL;
 //
 //   //allocate vectors B, Z
-//   vmblock1 = vminit();
+//   //vmblock1 = vminit();
 //   //B = (float *) vmalloc(vmblock1, VEKTOR,  100, 0);
 //   //Z = (float *) vmalloc(vmblock1, VEKTOR,  100, 0);
+//   B = new float[n+1];
+//   Z = new float[n+1];
 //
 //    //initialize V to identity matrix
@@ -504 +504 @@
 //     {
 //       //vmfree(vmblock1);
+//       delete[] B;
+//       delete[] Z;
 //       return;       //normal return
 //     }
@@ -512 +514 @@
 //     for(int k = 1; k < n; k++)
 //     {
-//       for (iq=ip+1; iq<=N; iq++) {
+//       for (iq=ip+1; iq<=n; iq++) {
 //         g=100*fabs(A[ip][iq]);
 // // after 4 sweeps, skip the rotation if the off-diagonal element is small
@@ -547 +549 @@
 //             A[j][iq] = h+s*(g-h*tau);
 //           }
-//           for (j=iq+1; j<=N; j++) {
+//           for (j=iq+1; j<=n; j++) {
 //             g=A[ip][j];
 //             h=A[iq][j];
@@ -553 +555 @@
 //             A[iq][j] = h+s*(g-h*tau);
 //           }
-//           for (j=1; j<=N; j++) {
+//           for (j=1; j<=n; j++) {
 //             g=V[j][ip];
 //             h=V[j][iq];
@@ -559 +561 @@
 //             V[j][iq] = h+s*(g-h*tau);
 //           }
-//           *NROT=*NROT+1;
+//           *nRot=*nRot+1;
 //         } //end ((i.gt.4)...else if
 //       } // main iq loop
 //     } // main ip loop
-//     for (ip=1; ip<=N; ip++) {
+//     for (ip=1; ip<=n; ip++) {
 //       B[ip] += Z[ip];
 //       D[ip]=B[ip];
@@ -570 +572 @@
 //   } //end of main i loop
 //   printf("\n 50 iterations !\n");
-//   vmfree(vmblock1);
+//   //vmfree(vmblock1);
+//   delete[] Z;
+//   delete[] B;
 //   return;  //too many iterations
 // }

trunk/src/lib/collision_detection/obb_tree_node.cc

@@ -385 +385 @@
 //   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];
+//   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];