Changeset 4589 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Jun 10, 2005, 11:42:38 AM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: solved last accuracy problem. all is well now. the box could be a little more tight

File:

• orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (4 diffs)

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

@@ -217 +217 @@
   float               tmpLength;                             //!< tmp save point for the length
 
-  ax[0].r = *box->center; ax[0].a = *box->axis[0];
-  ax[1].r = *box->center; ax[1].a = *box->axis[1];
-  ax[2].r = *box->center; ax[2].a = *box->axis[2];
 
   Plane p0(*box->axis[0], *box->center);
@@ -225 +222 @@
   Plane p2(*box->axis[2], *box->center);
 
-
-
-  halfLength[0] = 0.0f;
+  halfLength[0] = -1.0f;
   for(int j = 0; j < length; ++j)
   {
-    tmpLength = p0.distancePoint(vertices[j]);
+    tmpLength = fabs(p0.distancePoint(vertices[j]));
     if( tmpLength > halfLength[0])
       halfLength[0] = tmpLength;
   }
 
-
-  halfLength[1] = 0.0f;
+  halfLength[1] = -1.0f;
   for(int j = 0; j < length; ++j)
   {
-    tmpLength = p1.distancePoint(vertices[j]);
+    tmpLength = fabs(p1.distancePoint(vertices[j]));
     if( tmpLength > halfLength[1])
       halfLength[1] = tmpLength;
   }
 
-  halfLength[2] = 0.0f;
+  halfLength[2] = -1.0f;
   for(int j = 0; j < length; ++j)
   {
-    tmpLength = p2.distancePoint(vertices[j]);
+    tmpLength = fabs(p2.distancePoint(vertices[j]));
     if( tmpLength > halfLength[2])
       halfLength[2] = tmpLength;
@@ -253 +247 @@
 
   box->halfLength = halfLength;
-
 
 
@@ -300 +293 @@
 void OBBTreeNode::drawBVPolygon(int currentDepth, const int depth) const
 {
+
+  /* draw world axes */
+  glBegin(GL_LINES);
+  glColor3f(0.0, 0.4, 0.3);
+  glVertex3f(0.0, 0.0, 0.0);
+  glVertex3f(3.0, 0.0, 0.0);
+
+  glVertex3f(0.0, 0.0, 0.0);
+  glVertex3f(0.0, 3.0, 0.0);
+
+  glVertex3f(0.0, 0.0, 0.0);
+  glVertex3f(0.0, 0.0, 3.0);
+  glEnd();
+
+
 
   /* draw the obb axes */