Changeset 7711 in orxonox.OLD for trunk/src/lib/math

Timestamp:

May 18, 2006, 11:44:21 PM (19 years ago)

Author:

patrick

Message:

trunk: merged the cd branche back to trunk

Location:

trunk/src/lib/math

Files:

• matrix.cc (modified) (2 diffs)
• plane.cc (modified) (6 diffs)
• plane.h (modified) (1 diff)
• vector.h (modified) (1 diff)

trunk/src/lib/math/matrix.cc

@@ -244 +244 @@
 
     eigVc3 = eigVc1.cross(eigVc2);
+
+    eigVc2 = eigVc3.cross(eigVc1);
   }
   else if (eigenValuesCount == 1)
@@ -254 +256 @@
   eigVc2.normalize();
   eigVc3.normalize();
+
+  if (!(eigVc1.cross(eigVc3) == eigVc2))
+  {
+    eigVc3.cross(eigVc1);
+//     eigVc2.debug();
+  }
+/*  printf("ok\n")*/;
 }
 

trunk/src/lib/math/plane.cc

@@ -222 +222 @@
 }
 
+
 /**
  *  calculate the two points of minimal distance of two lines
@@ -267 +268 @@
 {
   n = (a-b).cross(c-b);
-  k = -(n.x*b.x+n.y*b.y+n.z*b.z);
+  k = n.dot(a) / n.len();
 }
 
@@ -278 +279 @@
 {
   n = norm;
-  k = -(n.x*p.x+n.y*p.y+n.z*p.z);
+  k = n.dot(p) / n.len();
 }
 
@@ -291 +292 @@
   Vector p(g[0], g[1], g[2]);
   n = norm;
-  k = -(n.x*p.x+n.y*p.y+n.z*p.z);
+  k = n.dot(p) / n.len();
 }
 
@@ -315 +316 @@
   float l = n.len();
   if( l == 0.0) return 0.0;
-  return (n.dot(p) + k) / n.len();
+  return (n.dot(p) / n.len() - k);
 }
 
@@ -324 +325 @@
  * @return the distance between the plane and the point (can be negative)
  */
-float Plane::distancePoint (const sVec3D& p) const
+// float Plane::distancePoint (const sVec3D& p) const
+// {
+//   Vector s(p[0], p[1], p[2]);
+//   float l = n.len();
+//   if( l == 0.0) return 0.0;
+//   return (n.dot(s) + k) / n.len();
+// }
+
+
+/**
+ *  returns the distance between the plane and a point
+ * @param p: a Point
+ * @return the distance between the plane and the point (can be negative)
+ */
+float Plane::distancePoint (const float* p) const
 {
   Vector s(p[0], p[1], p[2]);
+
   float l = n.len();
   if( l == 0.0) return 0.0;
-  return (n.dot(s) + k) / n.len();
+  return (n.dot(s) / n.len() - k);
 }
 

trunk/src/lib/math/plane.h

@@ -51 +51 @@
   Vector intersectLine (const Line& l) const;
   float distancePoint (const Vector& p) const;
-  float distancePoint (const sVec3D& p) const;
+//   float distancePoint (const sVec3D& p) const;
+  float distancePoint (const float* p) const;
   float locatePoint (const Vector& p) const;
 };

trunk/src/lib/math/vector.h

@@ -85 +85 @@
   /** copy constructor* @param v the sVec3D to assign to this vector. @returns the vector v */
   inline const Vector& operator= (const sVec3D& v) { this->x = v[0]; this->y = v[1]; this->z = v[2]; }
+  inline const Vector& operator= (const float* v) { this->x = v[0]; this->y = v[1]; this->z = v[2]; }
   /** @param v: the other vector \return the dot product of the vectors */
   float dot (const Vector& v) const { return x*v.x+y*v.y+z*v.z; };