Changeset 6450 in orxonox.OLD for branches/collision_detection/src/lib

Timestamp:

Jan 9, 2006, 2:14:00 PM (19 years ago)

Author:

bensch

Message:

cd: correctness

Location:

branches/collision_detection/src/lib

Files:

• collision_detection/cd_engine.cc (modified) (1 diff)
• math/matrix.cc (modified) (3 diffs)

branches/collision_detection/src/lib/collision_detection/cd_engine.cc

@@ -83 +83 @@
   WorldEntity* entity1 = iterator1->firstElement();
   WorldEntity* entity2 = iterator2->iteratorElement(iterator1);
-  PRINTF(3)("checking for collisions\n");
+  PRINTF(5)("checking for collisions\n");
   while( entity1 != NULL)
   {

branches/collision_detection/src/lib/math/matrix.cc

@@ -83 +83 @@
 }
 
+
+
+
 void Matrix::getEigenVectors(Vector& eigVc1, Vector& eigVc2, Vector& eigVc3) const
 {
@@ -110 +113 @@
 
     eigVc3 = eigVc1.cross(eigVc2);
+
+    eigVc2 = eigVc3.cross(eigVc1);
   }
   else if (eigenValuesCount == 1)
@@ -120 +125 @@
   eigVc2.normalize();
   eigVc3.normalize();
+
+  if (!(eigVc1.cross(eigVc3) == eigVc2))
+  {
+    eigVc3.cross(eigVc1).debug();
+    eigVc2.debug();
+  }
+  printf("ok\n");
 }