Changeset 5688 in orxonox.OLD for trunk/src/lib/collision_detection

Timestamp:

Nov 21, 2005, 11:27:39 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: the const collision detection war - strike

Location:

trunk/src/lib/collision_detection

Files:

• bounding_volume.h (modified) (2 diffs)
• bv_tree_node.h (modified) (1 diff)
• obb_tree_node.cc (modified) (6 diffs)
• obb_tree_node.h (modified) (3 diffs)

trunk/src/lib/collision_detection/bounding_volume.h

@@ -24 +24 @@
     inline const Vector* getCenter() const { return this->center; }
 
-    sVec3D* getVertices() const { return this->vertices; }
+    const sVec3D* getVertices() const { return this->vertices; }
     virtual void mergeWith(const BoundingVolume &bv) = 0;
 
@@ -34 +34 @@
     Vector*             center;                     //!< Center point of box
 
-    sVec3D*             vertices;                   //!< if CD_STORE_VERTICES enabled, this is the place, where the vert. will be sotred
+    const sVec3D*       vertices;                   //!< if CD_STORE_VERTICES enabled, this is the place, where the vert. will be sotred
     int                 numOfVertices;              //!< number of vertices in the vertices buffer
     bool                bOrigVertices;              //!< is true if the vertices pointer points to the original model data - only important for deleting

trunk/src/lib/collision_detection/bv_tree_node.h

@@ -26 +26 @@
   virtual ~BVTreeNode();
 
-  virtual void spawnBVTree(const int depth, sVec3D *verticesList, const int length ) = 0;
+  virtual void spawnBVTree(const int depth, const sVec3D *verticesList, unsigned int length ) = 0;
   virtual void spawnBVTree(const int depth, const modelInfo& modInfo) = 0;
 

trunk/src/lib/collision_detection/obb_tree_node.cc

@@ -168 +168 @@
  * this function creates an Bounding Volume tree from a vertices soup (no triangle data)
  */
-void OBBTreeNode::spawnBVTree(const int depth, sVec3D *verticesList, const int length)
+void OBBTreeNode::spawnBVTree(const int depth, const sVec3D *verticesList, unsigned int length)
 {
   PRINT(3)("\n");
@@ -225 +225 @@
 
 
-void OBBTreeNode::calculateBoxCovariance(OBB* box, sVec3D* verticesList, int length)
+void OBBTreeNode::calculateBoxCovariance(OBB* box, const sVec3D* verticesList, unsigned int length)
 {
   float     facelet[length];                         //!< surface area of the i'th triangle of the convex hull
@@ -417 +417 @@
 {}
 
-void OBBTreeNode::calculateBoxEigenvectors(OBB* box, sVec3D* verticesList, int length)
+void OBBTreeNode::calculateBoxEigenvectors(OBB* box, const sVec3D* verticesList, unsigned int length)
 {
 
@@ -468 +468 @@
 void OBBTreeNode::calculateBoxAxis(OBB* box, const modelInfo& modInfo)
 {
-  this->calculateBoxAxis( box, &modInfo.pVertices, modInfo.numVertices);
-}
-
-
-
-void OBBTreeNode::calculateBoxAxis(OBB* box, sVec3D* verticesList, int length)
+  //this->calculateBoxAxis( box, modInfo.pVertices, modInfo.numVertices);
+}
+
+
+
+void OBBTreeNode::calculateBoxAxis(OBB* box, const sVec3D* verticesList, unsigned int length)
 {
 
@@ -617 +617 @@
   the points depending on which side they are located
   */
-  tList<sVec3D>      partition1;                           //!< the vertex partition 1
-  tList<sVec3D>      partition2;                           //!< the vertex partition 2
+  tList<const sVec3D>      partition1;                           //!< the vertex partition 1
+  tList<const sVec3D>      partition2;                           //!< the vertex partition 2
 
 
@@ -642 +642 @@
 
   /* now comes the separation into two different sVec3D arrays */
-  tIterator<sVec3D>* iterator;                             //!< the iterator to go through the lists
-  sVec3D*            element;                              //!< the elements
+  tIterator<const sVec3D>* iterator;                       //!< the iterator to go through the lists
+  const sVec3D*      element;                              //!< the elements
   int                index;                                //!< index storage place
   sVec3D*            vertList1;                            //!< the vertex list 1

trunk/src/lib/collision_detection/obb_tree_node.h

@@ -28 +28 @@
     virtual ~OBBTreeNode();
 
-    virtual void spawnBVTree(const int depth, sVec3D *verticesList, const int length);
+    virtual void spawnBVTree(const int depth, const sVec3D *verticesList, unsigned int length);
     virtual void spawnBVTree(const int depth, const modelInfo& modInfo);
 
@@ -42 +42 @@
 
   private:
-    void calculateBoxCovariance(OBB* box, sVec3D* verticesList, int length);
-    void calculateBoxEigenvectors(OBB* box, sVec3D* verticesList, int length);
-    void calculateBoxAxis(OBB* box, sVec3D* verticesList, int length);
+    void calculateBoxCovariance(OBB* box, const sVec3D* verticesList, unsigned int length);
+    void calculateBoxEigenvectors(OBB* box, const sVec3D* verticesList, unsigned int length);
+    void calculateBoxAxis(OBB* box, const sVec3D* verticesList, unsigned int length);
     
     void calculateBoxCovariance(OBB* box, const modelInfo& modInfo);
@@ -62 +62 @@
   private:
     unsigned int        treeIndex;                  //!< Index number of the BV in the tree
-    sVec3D*             vertices;                   //!< pointer to the vertices data
+    const sVec3D*       vertices;                   //!< pointer to the vertices data
     int                 numOfVertices;              //!< number of vertices in vertices data
     int                 depth;                      //!< the depth of the node in the tree
     static OBBTree*     obbTree;                    //!< reference to the obb tree
     Plane*              separationPlane;            //!< the separation plane of the obb
-    sVec3D*             sepPlaneCenter;             //!< only needed to draw plane @todo: separationPlane drawing
+    const sVec3D*       sepPlaneCenter;             //!< only needed to draw plane @todo: separationPlane drawing
     int                 longestAxisIndex;           //!< only needed to draw plane