1 | /* |
---|
2 | orxonox - the future of 3D-vertical-scrollers |
---|
3 | |
---|
4 | Copyright (C) 2004 orx |
---|
5 | |
---|
6 | This program is free software; you can redistribute it and/or modify |
---|
7 | it under the terms of the GNU General Public License as published by |
---|
8 | the Free Software Foundation; either version 2, or (at your option) |
---|
9 | any later version. |
---|
10 | |
---|
11 | ### File Specific: |
---|
12 | main-programmer: Patrick Boenzli |
---|
13 | co-programmer: ... |
---|
14 | */ |
---|
15 | |
---|
16 | #define DEBUG_SPECIAL_MODULE DEBUG_MODULE_COLLISION |
---|
17 | |
---|
18 | #include "obb_tree_node.h" |
---|
19 | #include "list.h" |
---|
20 | #include "obb.h" |
---|
21 | #include "vector.h" |
---|
22 | #include "abstract_model.h" |
---|
23 | |
---|
24 | #include <math.h> |
---|
25 | |
---|
26 | |
---|
27 | #define WANT_STREAM |
---|
28 | #define WANT_MATH |
---|
29 | #define WANT_FSTREAM |
---|
30 | |
---|
31 | |
---|
32 | #include "include.h" |
---|
33 | #include "newmat.h" |
---|
34 | #include "newmatap.h" |
---|
35 | #include "newmatio.h" |
---|
36 | |
---|
37 | |
---|
38 | |
---|
39 | |
---|
40 | using namespace std; |
---|
41 | |
---|
42 | |
---|
43 | /** |
---|
44 | \brief standard constructor |
---|
45 | */ |
---|
46 | OBBTreeNode::OBBTreeNode () |
---|
47 | { |
---|
48 | this->setClassID(CL_OBB_TREE_NODE, "OBBTreeNode"); |
---|
49 | |
---|
50 | } |
---|
51 | |
---|
52 | |
---|
53 | /** |
---|
54 | \brief standard deconstructor |
---|
55 | |
---|
56 | */ |
---|
57 | OBBTreeNode::~OBBTreeNode () |
---|
58 | { |
---|
59 | // delete what has to be deleted here |
---|
60 | } |
---|
61 | |
---|
62 | |
---|
63 | |
---|
64 | /** |
---|
65 | \brief creates a new BVTree or BVTree partition |
---|
66 | \param depth: how much more depth-steps to go: if == 1 don't go any deeper! |
---|
67 | \param verticesList: the list of vertices of the object - each vertices triple is interpreted as a triangle |
---|
68 | */ |
---|
69 | void OBBTreeNode::spawnBVTree(const int depth, sVec3D *verticesList, const int length) |
---|
70 | { |
---|
71 | this->depth = depth; |
---|
72 | |
---|
73 | if( likely( this->depth > 0)) |
---|
74 | { |
---|
75 | this->bvElement = this->createBox(); |
---|
76 | this->calculateBoxAttributes(this->bvElement, verticesList, length); |
---|
77 | this->forkBox(this->bvElement); |
---|
78 | } |
---|
79 | } |
---|
80 | |
---|
81 | |
---|
82 | OBB* OBBTreeNode::createBox() |
---|
83 | { |
---|
84 | return new OBB(); |
---|
85 | } |
---|
86 | |
---|
87 | |
---|
88 | void OBBTreeNode::calculateBoxAttributes(OBB* box, sVec3D* verticesList, int length) |
---|
89 | { |
---|
90 | float facelet[length]; //!< surface area of the i'th triangle of the convex hull |
---|
91 | float face; //!< surface area of the entire convex hull |
---|
92 | Vector centroid[length]; //!< centroid of the i'th convex hull |
---|
93 | Vector center; //!< the center of the entire hull |
---|
94 | Vector p, q, r; //!< holder of the polygon data, much more conveniant to work with Vector than sVec3d |
---|
95 | Vector t1, t2; //!< temporary values |
---|
96 | float covariance[3][3]; //!< the covariance matrix |
---|
97 | |
---|
98 | this->numOfVertices = length; |
---|
99 | this->vertices = verticesList; |
---|
100 | box->vertices = verticesList; |
---|
101 | box->numOfVertices = length; |
---|
102 | |
---|
103 | |
---|
104 | /* fist compute all the convex hull face/facelets and centroids */ |
---|
105 | for(int i = 0; i < length; i+=3) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
---|
106 | { |
---|
107 | p = verticesList[i]; |
---|
108 | q = verticesList[i +1]; |
---|
109 | r = verticesList[i + 2]; |
---|
110 | |
---|
111 | t1 = p - q; t2 = p - r; |
---|
112 | |
---|
113 | /* finding the facelet surface via cross-product */ |
---|
114 | facelet[i] = 0.5f * fabs( t1.cross(t2).len() ); |
---|
115 | /* update the entire convex hull surface */ |
---|
116 | face += facelet[i]; |
---|
117 | |
---|
118 | /* calculate the cetroid of the hull triangles */ |
---|
119 | centroid[i] = (p + q + r) * 1/3; |
---|
120 | /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */ |
---|
121 | center += centroid[i] * facelet[i]; |
---|
122 | } |
---|
123 | /* take the average of the centroid sum */ |
---|
124 | center /= face; |
---|
125 | |
---|
126 | |
---|
127 | |
---|
128 | /* now calculate the covariance matrix - if not written in three for-loops, it would compute faster: minor */ |
---|
129 | for(int j = 0; j < 3; ++j) |
---|
130 | { |
---|
131 | for(int k = 0; k < 3; ++k) |
---|
132 | { |
---|
133 | for(int i = 0; i < length; i+=3) |
---|
134 | { |
---|
135 | p = verticesList[i]; |
---|
136 | q = verticesList[i +1]; |
---|
137 | r = verticesList[i + 2]; |
---|
138 | |
---|
139 | covariance[j][k] = facelet[i] / (12.0f * face) * (9.0f * centroid[i][j] * centroid[i][k] + p[j]* p[k] + |
---|
140 | q[j] * q[k] + r[j]*r[k]) - center[j] * center[k]; |
---|
141 | } |
---|
142 | } |
---|
143 | } |
---|
144 | |
---|
145 | printf("\nVertex Data:\n"); |
---|
146 | for(int i = 0; i < length; i++) |
---|
147 | { |
---|
148 | printf("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]); |
---|
149 | } |
---|
150 | |
---|
151 | printf("\nCovariance Matrix:\n"); |
---|
152 | for(int j = 0; j < 3; ++j) |
---|
153 | { |
---|
154 | printf(" |"); |
---|
155 | for(int k = 0; k < 3; ++k) |
---|
156 | { |
---|
157 | printf(" \b%f ", covariance[j][k]); |
---|
158 | } |
---|
159 | printf(" |\n"); |
---|
160 | } |
---|
161 | printf("center: %f, %f, %f\n\n", center.x, center.y, center.z); |
---|
162 | |
---|
163 | |
---|
164 | for(int i = 0; i < 3; ++i) |
---|
165 | { |
---|
166 | |
---|
167 | box->covarianceMatrix[i][0] = covariance[i][0]; |
---|
168 | box->covarianceMatrix[i][1] = covariance[i][1]; |
---|
169 | box->covarianceMatrix[i][3] = covariance[i][2]; |
---|
170 | } |
---|
171 | *box->center = center; |
---|
172 | |
---|
173 | |
---|
174 | /* now getting spanning vectors of the sub-space: |
---|
175 | the eigenvectors of a symmertric matrix, such as the |
---|
176 | covarience matrix are mutually orthogonal. |
---|
177 | after normalizing them, they can be used as a the basis |
---|
178 | vectors |
---|
179 | */ |
---|
180 | Matrix V(3,3); //!< for eigenvectors |
---|
181 | DiagonalMatrix D(3); //!< for eigenvalues |
---|
182 | SymmetricMatrix C(3); //!< for the covariance symmetrical matrix |
---|
183 | Vector** axis = new Vector*[3]; //!< the references to the obb axis |
---|
184 | |
---|
185 | C(1,1) = covariance[0][0]; |
---|
186 | C(1,2) = covariance[0][1]; |
---|
187 | C(1,3) = covariance[0][2]; |
---|
188 | C(2,1) = covariance[1][0]; |
---|
189 | C(2,2) = covariance[1][1]; |
---|
190 | C(2,3) = covariance[1][2]; |
---|
191 | C(3,1) = covariance[2][0]; |
---|
192 | C(3,2) = covariance[2][1]; |
---|
193 | C(3,3) = covariance[2][2]; |
---|
194 | |
---|
195 | Jacobi(C, D, V); /* do the jacobi decomposition */ |
---|
196 | |
---|
197 | printf("\nwe got a result! YES: \n"); |
---|
198 | |
---|
199 | for(int j = 1; j < 4; ++j) |
---|
200 | { |
---|
201 | printf(" |"); |
---|
202 | for(int k = 1; k < 4; ++k) |
---|
203 | { |
---|
204 | printf(" \b%f ", V(j, k)); |
---|
205 | } |
---|
206 | printf(" |\n"); |
---|
207 | } |
---|
208 | |
---|
209 | axis[0] = new Vector(V(1, 1), V(2, 1), V(3, 1)); |
---|
210 | axis[1] = new Vector(V(1, 2), V(2, 2), V(3, 2)); |
---|
211 | axis[2] = new Vector(V(1, 3), V(2, 3), V(3, 3)); |
---|
212 | box->axis = axis; |
---|
213 | |
---|
214 | printf("\neigenvector: %f, %f, %f\n", box->axis[0]->x, box->axis[0]->y, box->axis[0]->z); |
---|
215 | printf("eigenvector: %f, %f, %f\n", box->axis[1]->x, box->axis[1]->y, box->axis[1]->z); |
---|
216 | printf("eigenvector: %f, %f, %f\n", box->axis[2]->x, box->axis[2]->y, box->axis[2]->z); |
---|
217 | |
---|
218 | |
---|
219 | /* now get the axis length */ |
---|
220 | Line ax[3]; //!< the axis |
---|
221 | float* halfLength = new float[3]; //!< half length of the axis |
---|
222 | float tmpLength; //!< tmp save point for the length |
---|
223 | Plane p0(*box->axis[0], *box->center); //!< the axis planes |
---|
224 | Plane p1(*box->axis[1], *box->center); |
---|
225 | Plane p2(*box->axis[2], *box->center); |
---|
226 | |
---|
227 | halfLength[0] = -1.0f; |
---|
228 | for(int j = 0; j < length; ++j) |
---|
229 | { |
---|
230 | tmpLength = fabs(p0.distancePoint(vertices[j])); |
---|
231 | if( tmpLength > halfLength[0]) |
---|
232 | halfLength[0] = tmpLength; |
---|
233 | } |
---|
234 | |
---|
235 | halfLength[1] = -1.0f; |
---|
236 | for(int j = 0; j < length; ++j) |
---|
237 | { |
---|
238 | tmpLength = fabs(p1.distancePoint(vertices[j])); |
---|
239 | if( tmpLength > halfLength[1]) |
---|
240 | halfLength[1] = tmpLength; |
---|
241 | } |
---|
242 | |
---|
243 | halfLength[2] = -1.0f; |
---|
244 | for(int j = 0; j < length; ++j) |
---|
245 | { |
---|
246 | tmpLength = fabs(p2.distancePoint(vertices[j])); |
---|
247 | if( tmpLength > halfLength[2]) |
---|
248 | halfLength[2] = tmpLength; |
---|
249 | } |
---|
250 | |
---|
251 | box->halfLength = halfLength; |
---|
252 | |
---|
253 | |
---|
254 | printf("\nwe got length: \n"); |
---|
255 | for(int i = 0; i < 3; ++i) |
---|
256 | printf("length[%i] = %f\n", i, box->halfLength[i]); |
---|
257 | } |
---|
258 | |
---|
259 | |
---|
260 | |
---|
261 | /** |
---|
262 | \brief this separates an ob-box in the middle |
---|
263 | \param box: the box to separate |
---|
264 | |
---|
265 | this will separate the box into to smaller boxes. the separation is done along the middle of the longest axis |
---|
266 | */ |
---|
267 | void OBBTreeNode::forkBox(OBB* box) |
---|
268 | { |
---|
269 | /* get the longest axis of the box */ |
---|
270 | float aLength = -1.0f; //!< the length of the longest axis |
---|
271 | int axisIndex = 0; //!< this is the nr of the longest axis |
---|
272 | |
---|
273 | for(int i = 0; i < 3; ++i) |
---|
274 | { |
---|
275 | if( aLength < box->halfLength[i]) |
---|
276 | { |
---|
277 | aLength = box->halfLength[i]; |
---|
278 | axisIndex = i; |
---|
279 | } |
---|
280 | } |
---|
281 | |
---|
282 | printf("\nlongest axis is: nr %i with a half-length of: %f\n", axisIndex, aLength); |
---|
283 | |
---|
284 | |
---|
285 | /* get the closest vertex near the center */ |
---|
286 | float dist = 999999.0f; //!< the smallest distance to each vertex |
---|
287 | float tmpDist; //!< temporary distance |
---|
288 | int vertexIndex; |
---|
289 | Plane middlePlane(*box->axis[axisIndex], *box->center); //!< the middle plane |
---|
290 | |
---|
291 | for(int i = 0; i < box->numOfVertices; ++i) |
---|
292 | { |
---|
293 | tmpDist = fabs(middlePlane.distancePoint(box->vertices[i])); |
---|
294 | if( tmpDist < dist) |
---|
295 | { |
---|
296 | dist = tmpDist; |
---|
297 | vertexIndex = i; |
---|
298 | } |
---|
299 | } |
---|
300 | |
---|
301 | printf("\nthe clostest vertex is nr: %i, with a dist of: %f\n", vertexIndex ,dist); |
---|
302 | |
---|
303 | |
---|
304 | /* now definin the separation plane through this specified nearest point and partition |
---|
305 | the points depending on which side they are located |
---|
306 | */ |
---|
307 | Plane separationPlane(*box->axis[axisIndex], box->vertices[vertexIndex]); //!< separation plane |
---|
308 | tList<sVec3D> partition1; //!< the vertex partition 1 |
---|
309 | tList<sVec3D> partition2; //!< the vertex partition 2 |
---|
310 | |
---|
311 | for(int i = 0; i < box->numOfVertices; ++i) |
---|
312 | { |
---|
313 | if( separationPlane.distancePoint(box->vertices[i]) > 0.0f) |
---|
314 | partition1.add(&box->vertices[i]); |
---|
315 | else |
---|
316 | partition2.add(&box->vertices[i]); |
---|
317 | } |
---|
318 | partition1.add(&box->vertices[vertexIndex]); |
---|
319 | |
---|
320 | printf("\npartition1: got %i vertices/ partition 2: got %i vertices\n", partition1.getSize(), partition2.getSize()); |
---|
321 | |
---|
322 | |
---|
323 | /* now comes the separation into two different sVec3D arrays */ |
---|
324 | tIterator<sVec3D>* iterator; //!< the iterator to go through the lists |
---|
325 | sVec3D* element; //!< the elements |
---|
326 | int index; //!< index storage place |
---|
327 | sVec3D* vertList1; //!< the vertex list 1 |
---|
328 | sVec3D* vertList2; //!< the vertex list 2 |
---|
329 | |
---|
330 | vertList1 = new sVec3D[partition1.getSize()]; |
---|
331 | vertList2 = new sVec3D[partition2.getSize()]; |
---|
332 | |
---|
333 | iterator = partition1.getIterator(); |
---|
334 | element = iterator->nextElement(); |
---|
335 | index = 0; |
---|
336 | while( element != NULL) |
---|
337 | { |
---|
338 | vertList1[index][0] = element[0][0]; |
---|
339 | vertList1[index][1] = element[0][1]; |
---|
340 | vertList1[index][2] = element[0][2]; |
---|
341 | ++index; |
---|
342 | element = iterator->nextElement(); |
---|
343 | } |
---|
344 | |
---|
345 | printf("\npartition 1:\n"); |
---|
346 | for(int i = 0; i < partition1.getSize(); ++i) |
---|
347 | { |
---|
348 | printf("v[%i][0] = %f\n", i, vertList1[i][0]); |
---|
349 | printf("v[%i][1] = %f\n", i, vertList1[i][1]); |
---|
350 | printf("v[%i][2] = %f\n", i, vertList1[i][2]); |
---|
351 | } |
---|
352 | |
---|
353 | iterator = partition2.getIterator(); |
---|
354 | element = iterator->nextElement(); |
---|
355 | index = 0; |
---|
356 | while( element != NULL) |
---|
357 | { |
---|
358 | vertList2[index][0] = element[0][0]; |
---|
359 | vertList2[index][1] = element[0][1]; |
---|
360 | vertList2[index][2] = element[0][2]; |
---|
361 | ++index; |
---|
362 | element = iterator->nextElement(); |
---|
363 | } |
---|
364 | |
---|
365 | printf("\npartition 2:\n"); |
---|
366 | for(int i = 0; i < partition2.getSize(); ++i) |
---|
367 | { |
---|
368 | printf("v[%i][0] = %f\n", i, vertList2[i][0]); |
---|
369 | printf("v[%i][1] = %f\n", i, vertList2[i][1]); |
---|
370 | printf("v[%i][2] = %f\n", i, vertList2[i][2]); |
---|
371 | } |
---|
372 | |
---|
373 | /* now spawn the obb tree: create the nodes and descent */ |
---|
374 | OBBTreeNode* node1 = new OBBTreeNode(); |
---|
375 | OBBTreeNode* node2 = new OBBTreeNode(); |
---|
376 | |
---|
377 | this->nodeLeft = node1; |
---|
378 | this->nodeRight = node2; |
---|
379 | |
---|
380 | this->nodeLeft->spawnBVTree(this->depth - 1, vertList1, partition1.getSize()); |
---|
381 | this->nodeRight->spawnBVTree(this->depth - 1, vertList2, partition2.getSize()); |
---|
382 | } |
---|
383 | |
---|
384 | |
---|
385 | void OBBTreeNode::collideWith(const BVTree &tree) |
---|
386 | {} |
---|
387 | |
---|
388 | |
---|
389 | void OBBTreeNode::drawBV(int currentDepth, const int depth) const |
---|
390 | { |
---|
391 | // glBegin(GL_LINE_LOOP); |
---|
392 | // glColor3f(1.0, 1.0, 1.0); |
---|
393 | // for(int i = 0; i < this->bvElement->numOfVertices; ++i) |
---|
394 | // { |
---|
395 | // glVertex3f(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]); |
---|
396 | // //printf("v(%f, %f, %f)\n", this->vertices[i][0], this->vertices[i][1], this->vertices[i][2]); |
---|
397 | // } |
---|
398 | // glEnd(); |
---|
399 | } |
---|
400 | |
---|
401 | |
---|
402 | void OBBTreeNode::drawBVPolygon(int currentDepth, const int depth) const |
---|
403 | { |
---|
404 | |
---|
405 | /* draw world axes */ |
---|
406 | glBegin(GL_LINES); |
---|
407 | glColor3f(0.0, 0.4, 0.3); |
---|
408 | glVertex3f(0.0, 0.0, 0.0); |
---|
409 | glVertex3f(3.0, 0.0, 0.0); |
---|
410 | |
---|
411 | glVertex3f(0.0, 0.0, 0.0); |
---|
412 | glVertex3f(0.0, 3.0, 0.0); |
---|
413 | |
---|
414 | glVertex3f(0.0, 0.0, 0.0); |
---|
415 | glVertex3f(0.0, 0.0, 3.0); |
---|
416 | glEnd(); |
---|
417 | |
---|
418 | |
---|
419 | |
---|
420 | /* draw the obb axes */ |
---|
421 | glBegin(GL_LINES); |
---|
422 | glColor3f(0.0, 0.4, 0.3); |
---|
423 | glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
---|
424 | glVertex3f(this->bvElement->center->x + this->bvElement->axis[0]->x * this->bvElement->halfLength[0], |
---|
425 | this->bvElement->center->y + this->bvElement->axis[0]->y * this->bvElement->halfLength[0], |
---|
426 | this->bvElement->center->z + this->bvElement->axis[0]->z * this->bvElement->halfLength[0]); |
---|
427 | |
---|
428 | glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
---|
429 | glVertex3f(this->bvElement->center->x + this->bvElement->axis[1]->x * this->bvElement->halfLength[1], |
---|
430 | this->bvElement->center->y + this->bvElement->axis[1]->y * this->bvElement->halfLength[1], |
---|
431 | this->bvElement->center->z + this->bvElement->axis[1]->z * this->bvElement->halfLength[1]); |
---|
432 | |
---|
433 | glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
---|
434 | glVertex3f(this->bvElement->center->x + this->bvElement->axis[2]->x * this->bvElement->halfLength[2], |
---|
435 | this->bvElement->center->y + this->bvElement->axis[2]->y * this->bvElement->halfLength[2], |
---|
436 | this->bvElement->center->z + this->bvElement->axis[2]->z * this->bvElement->halfLength[2]); |
---|
437 | glEnd(); |
---|
438 | |
---|
439 | |
---|
440 | Vector cen = *this->bvElement->center; |
---|
441 | Vector** axis = this->bvElement->axis; |
---|
442 | float* len = this->bvElement->halfLength; |
---|
443 | |
---|
444 | /* draw bounding box */ |
---|
445 | glBegin(GL_LINE_LOOP); |
---|
446 | glColor3f(0.3, 0.4, 0.7); |
---|
447 | glVertex3f(cen.x + axis[0]->x * len[0] + axis[1]->x * len[1] + axis[2]->x * len[2], |
---|
448 | cen.y + axis[0]->y * len[0] + axis[1]->y * len[1] + axis[2]->y * len[2], |
---|
449 | cen.z + axis[0]->z * len[0] + axis[1]->z * len[1] + axis[2]->z * len[2]); |
---|
450 | glVertex3f(cen.x + axis[0]->x * len[0] + axis[1]->x * len[1] - axis[2]->x * len[2], |
---|
451 | cen.y + axis[0]->y * len[0] + axis[1]->y * len[1] - axis[2]->y * len[2], |
---|
452 | cen.z + axis[0]->z * len[0] + axis[1]->z * len[1] - axis[2]->z * len[2]); |
---|
453 | glVertex3f(cen.x + axis[0]->x * len[0] - axis[1]->x * len[1] - axis[2]->x * len[2], |
---|
454 | cen.y + axis[0]->y * len[0] - axis[1]->y * len[1] - axis[2]->y * len[2], |
---|
455 | cen.z + axis[0]->z * len[0] - axis[1]->z * len[1] - axis[2]->z * len[2]); |
---|
456 | glVertex3f(cen.x + axis[0]->x * len[0] - axis[1]->x * len[1] + axis[2]->x * len[2], |
---|
457 | cen.y + axis[0]->y * len[0] - axis[1]->y * len[1] + axis[2]->y * len[2], |
---|
458 | cen.z + axis[0]->z * len[0] - axis[1]->z * len[1] + axis[2]->z * len[2]); |
---|
459 | glEnd(); |
---|
460 | |
---|
461 | glBegin(GL_LINE_LOOP); |
---|
462 | glVertex3f(cen.x + axis[0]->x * len[0] - axis[1]->x * len[1] + axis[2]->x * len[2], |
---|
463 | cen.y + axis[0]->y * len[0] - axis[1]->y * len[1] + axis[2]->y * len[2], |
---|
464 | cen.z + axis[0]->z * len[0] - axis[1]->z * len[1] + axis[2]->z * len[2]); |
---|
465 | glVertex3f(cen.x + axis[0]->x * len[0] - axis[1]->x * len[1] - axis[2]->x * len[2], |
---|
466 | cen.y + axis[0]->y * len[0] - axis[1]->y * len[1] - axis[2]->y * len[2], |
---|
467 | cen.z + axis[0]->z * len[0] - axis[1]->z * len[1] - axis[2]->z * len[2]); |
---|
468 | glVertex3f(cen.x - axis[0]->x * len[0] - axis[1]->x * len[1] - axis[2]->x * len[2], |
---|
469 | cen.y - axis[0]->y * len[0] - axis[1]->y * len[1] - axis[2]->y * len[2], |
---|
470 | cen.z - axis[0]->z * len[0] - axis[1]->z * len[1] - axis[2]->z * len[2]); |
---|
471 | glVertex3f(cen.x - axis[0]->x * len[0] - axis[1]->x * len[1] + axis[2]->x * len[2], |
---|
472 | cen.y - axis[0]->y * len[0] - axis[1]->y * len[1] + axis[2]->y * len[2], |
---|
473 | cen.z - axis[0]->z * len[0] - axis[1]->z * len[1] + axis[2]->z * len[2]); |
---|
474 | glEnd(); |
---|
475 | |
---|
476 | glBegin(GL_LINE_LOOP); |
---|
477 | glVertex3f(cen.x - axis[0]->x * len[0] - axis[1]->x * len[1] + axis[2]->x * len[2], |
---|
478 | cen.y - axis[0]->y * len[0] - axis[1]->y * len[1] + axis[2]->y * len[2], |
---|
479 | cen.z - axis[0]->z * len[0] - axis[1]->z * len[1] + axis[2]->z * len[2]); |
---|
480 | glVertex3f(cen.x - axis[0]->x * len[0] - axis[1]->x * len[1] - axis[2]->x * len[2], |
---|
481 | cen.y - axis[0]->y * len[0] - axis[1]->y * len[1] - axis[2]->y * len[2], |
---|
482 | cen.z - axis[0]->z * len[0] - axis[1]->z * len[1] - axis[2]->z * len[2]); |
---|
483 | glVertex3f(cen.x - axis[0]->x * len[0] + axis[1]->x * len[1] - axis[2]->x * len[2], |
---|
484 | cen.y - axis[0]->y * len[0] + axis[1]->y * len[1] - axis[2]->y * len[2], |
---|
485 | cen.z - axis[0]->z * len[0] + axis[1]->z * len[1] - axis[2]->z * len[2]); |
---|
486 | glVertex3f(cen.x - axis[0]->x * len[0] + axis[1]->x * len[1] + axis[2]->x * len[2], |
---|
487 | cen.y - axis[0]->y * len[0] + axis[1]->y * len[1] + axis[2]->y * len[2], |
---|
488 | cen.z - axis[0]->z * len[0] + axis[1]->z * len[1] + axis[2]->z * len[2]); |
---|
489 | glEnd(); |
---|
490 | |
---|
491 | glBegin(GL_LINE_LOOP); |
---|
492 | glVertex3f(cen.x - axis[0]->x * len[0] + axis[1]->x * len[1] - axis[2]->x * len[2], |
---|
493 | cen.y - axis[0]->y * len[0] + axis[1]->y * len[1] - axis[2]->y * len[2], |
---|
494 | cen.z - axis[0]->z * len[0] + axis[1]->z * len[1] - axis[2]->z * len[2]); |
---|
495 | glVertex3f(cen.x - axis[0]->x * len[0] + axis[1]->x * len[1] + axis[2]->x * len[2], |
---|
496 | cen.y - axis[0]->y * len[0] + axis[1]->y * len[1] + axis[2]->y * len[2], |
---|
497 | cen.z - axis[0]->z * len[0] + axis[1]->z * len[1] + axis[2]->z * len[2]); |
---|
498 | glVertex3f(cen.x + axis[0]->x * len[0] + axis[1]->x * len[1] + axis[2]->x * len[2], |
---|
499 | cen.y + axis[0]->y * len[0] + axis[1]->y * len[1] + axis[2]->y * len[2], |
---|
500 | cen.z + axis[0]->z * len[0] + axis[1]->z * len[1] + axis[2]->z * len[2]); |
---|
501 | glVertex3f(cen.x + axis[0]->x * len[0] + axis[1]->x * len[1] - axis[2]->x * len[2], |
---|
502 | cen.y + axis[0]->y * len[0] + axis[1]->y * len[1] - axis[2]->y * len[2], |
---|
503 | cen.z + axis[0]->z * len[0] + axis[1]->z * len[1] - axis[2]->z * len[2]); |
---|
504 | glEnd(); |
---|
505 | |
---|
506 | /* |
---|
507 | glVertex3f(cen.x - axis[0]->x * len[0] + axis[1]->x * len[1] - axis[2]->x * len[2], |
---|
508 | cen.y - axis[0]->y * len[0] + axis[1]->y * len[1] - axis[2]->y * len[2], |
---|
509 | cen.z - axis[0]->z * len[0] + axis[1]->z * len[1] - axis[2]->z * len[2]); |
---|
510 | glVertex3f(cen.x - axis[0]->x * len[0] + axis[1]->x * len[1] + axis[2]->x * len[2], |
---|
511 | cen.y - axis[0]->y * len[0] + axis[1]->y * len[1] + axis[2]->y * len[2], |
---|
512 | cen.z - axis[0]->z * len[0] + axis[1]->z * len[1] + axis[2]->z * len[2]);*/ |
---|
513 | |
---|
514 | |
---|
515 | glEnd(); |
---|
516 | |
---|
517 | |
---|
518 | } |
---|
519 | |
---|
520 | |
---|
521 | void OBBTreeNode::drawBVBlended(int currentDepth, const int depth) const |
---|
522 | {} |
---|
523 | |
---|
524 | |
---|
525 | void OBBTreeNode::debug() |
---|
526 | { |
---|
527 | |
---|
528 | /* |
---|
529 | for(int i = 0; i < length; i++) |
---|
530 | { |
---|
531 | printf("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]); |
---|
532 | } |
---|
533 | */ |
---|
534 | } |
---|