Changeset 4553 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Jun 8, 2005, 11:59:09 AM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: some more changes to display the data correctly

File:

• orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (5 diffs)

orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

@@ -64 +64 @@
   float     covariance[3][3];                        //!< the covariance matrix
     
+  this->numOfVertices = length;
+  this->vertices = verticesList;
+
   /* fist compute all the convex hull face/facelets and centroids */
   for(int i = 0; i < length; i+=3)          /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/
     {
-      p = *(verticesList + i);
-      q = *(verticesList + i + 1);
-      r = *(verticesList + i + 2);
+      p = verticesList[i];
+      q = verticesList[i +1];
+      r = verticesList[i + 2];
       
       t1 = p - q; t2 = p - r;
@@ -94 +97 @@
           for(int i = 0; i < length; i+=3)
             {
-              p = *(verticesList + i);
-              q = *(verticesList + i + 1);
-              r = *(verticesList + i + 2);
+              p = verticesList[i];
+              q = verticesList[i +1];
+              r = verticesList[i + 2];
 
               covariance[j][k] = facelet[i] / (12.0f * face) * (9.0f * centroid[i][j] * centroid[i][k] + p[j]* p[k] +
@@ -105 +108 @@
 
   printf("Covariance Matrix:\n");
-    for(int j = 0; j < 3; ++j)
+  for(int j = 0; j < 3; ++j)
     {
       printf(" |");
@@ -114 +117 @@
       printf(" |\n");
     }
+  printf("center: %f, %f, %f\n\n", centre.x, centre.y, centre.z);
+
+  for(int i = 0; i < length; i++)
+    {
+      printf("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]);
+    }
+  
 }
 
@@ -122 +132 @@
 
 void OBBTreeNode::drawBV(int currentDepth, const int depth) const
-{}
+{
+  glColor3f(1.0, 1.0, 1.0);
+  glBegin(GL_TRIANGLES);
+  for(int i = 0; i < this->numOfVertices; ++i)
+    {
+      glVertex3f(this->vertices[i][0], this->vertices[i][1], this->vertices[i][2]);
+      //printf("v(%f, %f, %f)\n", this->vertices[i][0], this->vertices[i][1], this->vertices[i][2]);
+    }
+  glEnd();
+}