Changeset 5710 in orxonox.OLD for branches/collision_detection/src

Timestamp:

Nov 22, 2005, 5:38:45 PM (19 years ago)

Author:

patrick

Message:

collision_detection: start switching to triangles instead of vertex soup

File:

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

branches/collision_detection/src/lib/collision_detection/obb_tree_node.cc

@@ -218 +218 @@
 
 
-void OBBTreeNode::calculateBoxCovariance(OBB* box, const modelInfo& modInfo, 
+void OBBTreeNode::calculateBoxCovariance(OBB* box, const modelInfo& modelInf, 
                                          const int* triangleIndexes, unsigned int length)
 {
@@ -232 +232 @@
   Vector    t1, t2;                                  //!< temporary values
   float     covariance[3][3] = {0,0,0, 0,0,0, 0,0,0};//!< the covariance matrix
+  sVec3D*   tmpVec = NULL;                           //!< a temp saving place for sVec3Ds
 
 
  
   /* fist compute all the convex hull face/facelets and centroids */
-  for( int i = 0; i+3 < length ; i+=3)          /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/
-  {
-    p = verticesList[i];
-    q = verticesList[i + 1];
-    r = verticesList[i + 2];
+  for( int i = 0; i < length ; ++i)
+  {
+    sVec3D* a = (sVec3D*)(&modelInf.pVertices[modelInf.pTriangles[i].indexToVertices[0]]);
+    p = *a;
+    p.debug();
+    //q = modelInf.pVertices[modelInf.pTriangles[i][1]];     //verticesList[i + 1];
+    //r = modelInf.pVertices[modelInf.pTriangles[i][2]];     //verticesList[i + 2];
 
     t1 = p - q; t2 = p - r;