Changeset 5929 in orxonox.OLD for branches/collision_detection

Timestamp:

Dec 5, 2005, 12:48:07 AM (19 years ago)

Author:

patrick

Message:

collision_deteciton: some minor bug fixes. the eigenvc algorithm doesn't work yet. this realy sucks…

File:

• branches/collision_detection/src/lib/collision_detection/obb_tree_node.cc (modified) (3 diffs)

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

@@ -169 +169 @@
 
     /* calculate the cetroid of the hull triangles */
-    centroid[i] = (p + q + r) * 1/3;
+    centroid[i] = (p + q + r) / 3.0f;
     /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */
     center += centroid[i] * facelet[i];
@@ -193 +193 @@
         r = *tmpVec;
 
-        covariance[j][k] = facelet[i] / (12.0f * face) * (9.0f * centroid[i][j] * centroid[i][k] + p[j] * p[k] +
-                           q[j] * q[k] + r[j] * r[k]) - center[j] * center[k];
+        covariance[j][k] = facelet[i] * (9.0f * centroid[i][j] * centroid[i][k] + p[j] * p[k] +
+                           q[j] * q[k] + r[j] * r[k]);
       }
+      covariance[j][k] = covariance[j][k] / (12.0f * face) - center[j] * center[k];
     }
   }
@@ -248 +249 @@
     for(int k = 0; k < 3; ++k)
     {
-      PRINT(3)("%11.2f\t", covariance[j][k]);
+      PRINT(3)("%11.4f\t", covariance[j][k]);
     }
     PRINT(3)("\n");
   }
-  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", box.arithCenter.x, box.arithCenter.y, box.arithCenter.z);
+  PRINTF(3)("\nWeighteed OBB Center:\n\t\t%11.4f\t %11.4f\t %11.4f\n", center.x, center.y, center.z);
+  PRINTF(3)("\nArithmetical OBB Center:\n\t\t%11.4f\t %11.4f\t %11.4f\n", box.arithCenter.x, box.arithCenter.y, box.arithCenter.z);
 
   /* write back the covariance matrix data to the object oriented bouning box */