Changeset 7587 in orxonox.OLD for branches/cd/src/lib

Timestamp:

May 11, 2006, 1:29:04 AM (19 years ago)

Author:

patrick

Message:

cd: changing to new coordinate format

File:

• branches/cd/src/lib/collision_detection/obb_tree_node.cc (modified) (5 diffs)

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

@@ -121 +121 @@
   this->calculateBoxEigenvectors(*this->bvElement, modelInf, triangleIndexes, length);
   this->calculateBoxAxis(*this->bvElement, modelInf, triangleIndexes, length);
+  this->calculateBoxAxis(*this->bvElement, modelInf, triangleIndexes, length);
+  this->calculateBoxAxis(*this->bvElement, modelInf, triangleIndexes, length);
 
   /* do we need to descent further in the obb tree?*/
@@ -163 +165 @@
   for( int i = 0; i < length ; ++i)
   {
-    tmpVec = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[0]]);
-    p = tmpVec;
-    tmpVec = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[1]]);
-    q = tmpVec;
-    tmpVec = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[2]]);
-    r = tmpVec;
+    p = &modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[0]];
+    q = &modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[1]];
+    r = &modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[2]];
 
     /* finding the facelet surface via cross-product */
@@ -195 +194 @@
       for( int i = 0; i < length; ++i)
       {
-        tmpVec = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[0]]);
-        p = tmpVec;
-        tmpVec = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[1]]);
-        q = tmpVec;
-        tmpVec = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[2]]);
-        r = tmpVec;
+        p = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[0]]);
+        q = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[1]]);
+        r = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[2]]);
 
         covariance[j][k] = facelet[i] * (9.0f * centroid[i][j] * centroid[i][k] + p[j] * p[k] +
@@ -215 +211 @@
   }
   box.center = center;
-
-
-  std::vector<int>           vertIndexVector;                           //!< vertex indexes list
-  int                        vertIndex;                                 //!< index to vertex
-  bool                       vertexFound;                               //!< vertex found flag
-  Vector                     arithCenter;                               //!< aritmetical center
 
 
@@ -363 +353 @@
   }
   // FIXME: += anstatt -= ????????? verwirr
-  box.center.x -= centerOffset[0];
-  box.center.y -= centerOffset[1];
-  box.center.z -= centerOffset[2];
+  box.center.x += centerOffset[0];
+  box.center.y += centerOffset[1];
+  box.center.z += centerOffset[2];
 
   PRINTF(3)("\n");
   PRINT(3)("\tAxis halflength x: %11.2f (max: %11.2f, \tmin: %11.2f), offset: %11.2f\n", box.halfLength[0], maxLength[0], minLength[0], centerOffset[0]);
-  PRINT(3)("\tAxis halflength x: %11.2f (max: %11.2f, \tmin: %11.2f), offset: %11.2f\n", box.halfLength[1], maxLength[1], minLength[1], centerOffset[1] );
-  PRINT(3)("\tAxis halflength x: %11.2f (max: %11.2f, \tmin: %11.2f), offset: %11.2f\n", box.halfLength[2], maxLength[2], minLength[2], centerOffset[2]);
+  PRINT(3)("\tAxis halflength y: %11.2f (max: %11.2f, \tmin: %11.2f), offset: %11.2f\n", box.halfLength[1], maxLength[1], minLength[1], centerOffset[1] );
+  PRINT(3)("\tAxis halflength z: %11.2f (max: %11.2f, \tmin: %11.2f), offset: %11.2f\n", box.halfLength[2], maxLength[2], minLength[2], centerOffset[2]);
 }