Changeset 5923 in orxonox.OLD for branches/collision_detection/src

Timestamp:

Dec 4, 2005, 11:35:16 PM (19 years ago)

Author:

patrick

Message:

collision_detection: restrucured the center seeker funciton

File:

• branches/collision_detection/src/lib/collision_detection/obb_tree_node.cc (modified) (4 diffs)

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

@@ -198 +198 @@
     }
   }
+  for(int i = 0; i < 3; ++i)
+  {
+    box.covarianceMatrix[i][0] = covariance[i][0];
+    box.covarianceMatrix[i][1] = covariance[i][1];
+    box.covarianceMatrix[i][2] = covariance[i][2];
+  }
+  box.center = center;
 
 
@@ -204 +211 @@
   bool                       vertexFound;                               //!< vertex found flag
   Vector                     arithCenter;                               //!< aritmetical center
-
 
   /* calculate the arithmetical center of the box */
@@ -231 +237 @@
     arithCenter += *tmpVec;
   }
-  arithCenter.debug();
   box.arithCenter = arithCenter / vertIndexVector.size();
 
 
 
-
+  /* debug output section*/
   PRINTF(3)("\nOBB Covariance Matrix:\n");
   for(int j = 0; j < 3; ++j)
@@ -248 +253 @@
   }
   PRINTF(3)("\nWeighteed OBB Center:\n\t\t%11.2f\t %11.2f\t %11.2f\n", center.x, center.y, center.z);
-  PRINTF(3)("\nArithmetical OBB Center:\n\t\t%11.2f\t %11.2f\t %11.2f\n", arithCenter.x, arithCenter.y, arithCenter.z);
+  PRINTF(3)("\nArithmetical OBB Center:\n\t\t%11.2f\t %11.2f\t %11.2f\n", box.arithCenter.x, box.arithCenter.y, box.arithCenter.z);
 
   /* write back the covariance matrix data to the object oriented bouning box */
-  for(int i = 0; i < 3; ++i)
-  {
-    box.covarianceMatrix[i][0] = covariance[i][0];
-    box.covarianceMatrix[i][1] = covariance[i][1];
-    box.covarianceMatrix[i][2] = covariance[i][2];
-  }
-  box.center = center;
 }