Changeset 4704 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Jun 26, 2005, 4:13:11 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: now collision detection is accurate. Now I have to tune the code, so the cd becomes faster

File:

• orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (7 diffs)

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

@@ -609 +609 @@
   PRINTF(0)("collideWith\n");
   /* if the obb overlap, make subtests: check which node is realy overlaping  */
+  PRINT(0)("Checking OBB %i vs %i: ", this->getIndex(), treeNode->getIndex());
   if( this->overlapTest(this->bvElement, ((OBBTreeNode*)treeNode)->bvElement, nodeA, nodeB))
   {
     /* check if left node overlaps */
-    if( unlikely( this->nodeLeft != NULL))
+    if( likely( this->nodeLeft != NULL))
+    {
+      PRINT(0)("Checking OBB %i vs %i: ", this->nodeLeft->getIndex(), treeNode->getIndex());
       if( this->overlapTest(this->nodeLeft->bvElement, ((OBBTreeNode*)treeNode)->bvElement, nodeA, nodeB))
+      {
         this->nodeLeft->collideWith(((OBBTreeNode*)treeNode)->nodeLeft, nodeA, nodeB);
+        this->nodeLeft->collideWith(((OBBTreeNode*)treeNode)->nodeRight, nodeA, nodeB);
+      }
+    }
     /* check if right node overlaps */
-    if( unlikely( this->nodeRight != NULL))
+    if( likely( this->nodeRight != NULL))
+    {
+      PRINT(0)("Checking OBB %i vs %i: ", this->nodeRight->getIndex(), treeNode->getIndex());
       if(this->overlapTest(this->nodeRight->bvElement, ((OBBTreeNode*)treeNode)->bvElement, nodeA, nodeB))
-        this->nodeLeft->collideWith(((OBBTreeNode*)treeNode)->nodeRight, nodeA, nodeB);
+      {
+       this->nodeRight->collideWith(((OBBTreeNode*)treeNode)->nodeLeft, nodeA, nodeB);
+       this->nodeRight->collideWith(((OBBTreeNode*)treeNode)->nodeRight, nodeA, nodeB);
+      }
+    }
   }
 }
@@ -626 +639 @@
 bool OBBTreeNode::overlapTest(OBB* boxA, OBB* boxB, PNode* nodeA, PNode* nodeB)
 {
+
 
 
@@ -641 +655 @@
       l = boxA->axis[j];
 
+      /* \todo unroll all loops */
       for(int i = 0; i < 3; ++i)
         rA += fabs(boxA->halfLength[i] * boxA->axis[i].dot(l));
@@ -651 +666 @@
       if( (rA + rB) < fabs(t.dot(l)))
       {
-        PRINTF(0)(" - Keine Kollision in der Bahnfohstrasse! Passagiere der Linien 6, 14 sind gebeten zu fliegen!\n");
+        PRINT(0)("keine Kollision\n");
+        PRINTF(3)(" - Keine Kollision in der Bahnfohstrasse! Passagiere der Linien 6, 14 sind gebeten zu fliegen!\n");
         return false;
       }
@@ -673 +689 @@
       if( (rA + rB) < fabs(t.dot(l)))
       {
-        PRINTF(0)(" - Keine Kollision in der Bahnfohstrasse! Passagiere der Linien 6, 14 sind gebeten zu fliegen!\n");
+        PRINT(0)("keine Kollision\n");
+        PRINTF(3)(" - Keine Kollision in der Bahnfohstrasse! Passagiere der Linien 6, 14 sind gebeten zu fliegen!\n");
         return false;
       }
@@ -699 +716 @@
           if( (rA + rB) < fabs(t.dot(l)))
           {
-            PRINTF(0)(" - Keine Kollision in der Bahnfohstrasse! Passagiere der Linien 6, 14 sind gebeten zu fliegen!\n");
+            PRINT(0)("keine Kollision\n");
+            PRINTF(3)(" - Keine Kollision in der Bahnfohstrasse! Passagiere der Linien 6, 14 sind gebeten zu fliegen!\n");
             return false;
           }
@@ -710 +728 @@
     boxA->bCollided = true; /* use this ONLY!!!! for drawing operations */
     boxB->bCollided = true;
+    PRINT(0)("Kollision!\n");
     return true;
 }