Changeset 7668 in orxonox.OLD for branches/cd/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

May 18, 2006, 1:50:46 AM (19 years ago)

Author:

patrick

Message:

cd: most bugs found. but there is still at least one left: the axis are corrected in a wrong way. some more testing necessary

File:

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

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

@@ -239 +239 @@
   }
   box.center = center;
-  //FIXME setting center to 0,0,0
-//   box.center = Vector();
-
 
   /* debug output section*/
@@ -286 +283 @@
   /* calculate the axis */
   covMat.getEigenVectors(axis[0], axis[1], axis[2] );
-//   box.axis[0] = axis[0];
-//   box.axis[1] = axis[1];
-//   box.axis[2] = axis[2];
-
-  box.axis[0] = Vector(1,0,0);
-  box.axis[1] = Vector(0,1,0);
-  box.axis[2] = Vector(0,0,1);
+  box.axis[0] = axis[0];
+  box.axis[1] = axis[1];
+  box.axis[2] = axis[2];
+
+//   box.axis[0] = Vector(1,0,0);
+//   box.axis[1] = Vector(0,1,0);
+//   box.axis[2] = Vector(0,0,1);
 
   PRINTF(3)("Eigenvectors:\n");
@@ -397 +394 @@
   for( int i = 0; i < 3; ++i)
   {
-    centerOffset[i] = (fabs(maxLength[i]) - fabs(minLength[i])) / 2.0f;       // min length is negatie
+//     centerOffset[i] = (fabs(maxLength[i]) - fabs(minLength[i])) / 2.0f;       // min length is negatie
+    centerOffset[i] = (maxLength[i] + minLength[i]) / 2.0f;       // min length is negatie
     box.halfLength[i] = (maxLength[i] - minLength[i]) / 2.0f;                 // min length is negative
   }