Changeset 5868 in orxonox.OLD
- Timestamp:
- Dec 2, 2005, 11:59:30 AM (19 years ago)
- File:
-
- 1 edited
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branches/collision_detection/src/lib/collision_detection/obb_tree_node.cc
r5867 r5868 354 354 * @param length: the length of the indexes array 355 355 */ 356 void OBBTreeNode::calculateBoxAxis(OBB& box, const modelInfo& mod Info, const int* triangleIndexes, unsigned int length)356 void OBBTreeNode::calculateBoxAxis(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, unsigned int length) 357 357 { 358 358 … … 370 370 float maxLength[3]; 371 371 float minLength[3]; 372 373 374 /* get a bad bounding box */ 372 const sVec3D* tmpVec; 373 374 /* 375 this step is split up in two: first there will be made a bounding box which is 376 very badly centered. In the secon step there will be calculated a new center 377 and a better bounding box. 378 */ 379 380 /* get a bad bounding box axis */ 375 381 halfLength[0] = -1.0f; 376 for(int j = 0; j < length; ++j) 377 { 378 tmpLength = fabs(p0.distancePoint(vertices[j])); 379 if( tmpLength > halfLength[0]) 380 halfLength[0] = tmpLength; 382 for( int j = 0; j < length; ++j) 383 { 384 for( int i = 0; i < 3; ++i) 385 { 386 tmpVec = (sVec3D*)(&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[j]].indexToVertices[i]]); 387 tmpLength = fabs(p0.distancePoint(*tmpVec)); 388 if( tmpLength > halfLength[0]) 389 halfLength[0] = tmpLength; 390 } 381 391 } 382 392 383 393 halfLength[1] = -1.0f; 384 for(int j = 0; j < length; ++j) 385 { 386 tmpLength = fabs(p1.distancePoint(vertices[j])); 387 if( tmpLength > halfLength[1]) 388 halfLength[1] = tmpLength; 394 for( int j = 0; j < length; ++j) 395 { 396 for( int i = 0; i < 3; ++i) 397 { 398 tmpVec = (sVec3D*)(&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[j]].indexToVertices[i]]); 399 tmpLength = fabs(p0.distancePoint(*tmpVec)); 400 if( tmpLength > halfLength[1]) 401 halfLength[1] = tmpLength; 402 } 389 403 } 390 404 391 405 halfLength[2] = -1.0f; 392 for(int j = 0; j < length; ++j) 393 { 394 tmpLength = fabs(p2.distancePoint(vertices[j])); 395 if( tmpLength > halfLength[2]) 396 halfLength[2] = tmpLength; 406 for( int j = 0; j < length; ++j) 407 { 408 for( int i = 0; i < 3; ++i) 409 { 410 tmpVec = (sVec3D*)(&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[j]].indexToVertices[i]]); 411 tmpLength = fabs(p0.distancePoint(*tmpVec)); 412 if( tmpLength > halfLength[2]) 413 halfLength[2] = tmpLength; 414 } 397 415 } 398 416 … … 400 418 401 419 /* get the maximal dimensions of the body in all directions */ 402 maxLength[0] = p0.distancePoint(vertices[0]); 403 minLength[0] = p0.distancePoint(vertices[0]); 404 for(int j = 0; j < length; ++j) 405 { 406 tmpLength = p0.distancePoint(vertices[j]); 407 if( tmpLength > maxLength[0]) 408 maxLength[0] = tmpLength; 409 else if( tmpLength < minLength[0]) 410 minLength[0] = tmpLength; 411 } 412 413 maxLength[1] = p1.distancePoint(vertices[0]); 414 minLength[1] = p1.distancePoint(vertices[0]); 415 for(int j = 0; j < length; ++j) 416 { 417 tmpLength = p1.distancePoint(vertices[j]); 418 if( tmpLength > maxLength[1]) 419 maxLength[1] = tmpLength; 420 else if( tmpLength < minLength[1]) 421 minLength[1] = tmpLength; 422 } 423 424 maxLength[2] = p2.distancePoint(vertices[0]); 425 minLength[2] = p2.distancePoint(vertices[0]); 426 for(int j = 0; j < length; ++j) 427 { 428 tmpLength = p2.distancePoint(vertices[j]); 429 if( tmpLength > maxLength[2]) 430 maxLength[2] = tmpLength; 431 else if( tmpLength < minLength[2]) 432 minLength[2] = tmpLength; 420 /* for the initialisation the value just has to be inside of the polygon soup -> first vertices (rand) */ 421 tmpVec = (sVec3D*)(&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[0]].indexToVertices[0]]); 422 maxLength[0] = p0.distancePoint(*tmpVec); 423 minLength[0] = p0.distancePoint(*tmpVec); 424 for( int j = 0; j < length; ++j) 425 { 426 for( int i = 0; i < 3; ++i) 427 { 428 tmpVec = (sVec3D*)(&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[j]].indexToVertices[i]]); 429 tmpLength = p0.distancePoint(*tmpVec); 430 if( tmpLength > maxLength[0]) 431 maxLength[0] = tmpLength; 432 else if( tmpLength < minLength[0]) 433 minLength[0] = tmpLength; 434 } 435 } 436 437 /* for the initialisation the value just has to be inside of the polygon soup -> first vertices (rand) */ 438 tmpVec = (sVec3D*)(&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[0]].indexToVertices[0]]); 439 maxLength[1] = p1.distancePoint(*tmpVec); 440 minLength[1] = p1.distancePoint(*tmpVec); 441 for( int j = 0; j < length; ++j) 442 { 443 for( int i = 0; i < 3; ++i) 444 { 445 tmpVec = (sVec3D*)(&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[j]].indexToVertices[i]]); 446 tmpLength = p0.distancePoint(*tmpVec); 447 if( tmpLength > maxLength[1]) 448 maxLength[1] = tmpLength; 449 else if( tmpLength < minLength[1]) 450 minLength[1] = tmpLength; 451 } 452 } 453 454 /* for the initialisation the value just has to be inside of the polygon soup -> first vertices (rand) */ 455 tmpVec = (sVec3D*)(&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[0]].indexToVertices[0]]); 456 maxLength[2] = p2.distancePoint(*tmpVec); 457 minLength[2] = p2.distancePoint(*tmpVec); 458 for( int j = 0; j < length; ++j) 459 { 460 for( int i = 0; i < 3; ++i) 461 { 462 tmpVec = (sVec3D*)(&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[j]].indexToVertices[i]]); 463 tmpLength = p0.distancePoint(*tmpVec); 464 if( tmpLength > maxLength[2]) 465 maxLength[2] = tmpLength; 466 else if( tmpLength < minLength[2]) 467 minLength[2] = tmpLength; 468 } 433 469 } 434 470
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