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source: orxonox.OLD/branches/cd_merge/src/lib/collision_detection/obb_tree.cc @ 6657

Last change on this file since 6657 was 6657, checked in by bensch, 18 years ago

orxonox/cd_merge: merged the old collision-detection here.

File size: 3.4 KB
Line 
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_DETECTION
17
18#include "obb_tree.h"
19#include "obb_tree_node.h"
20#include "obb.h"
21#include "debug.h"
22#include "compiler.h"
23#include "material.h"
24#include "world_entity.h"
25#include "p_node.h"
26
27using namespace std;
28
29
30/**
31 *  standard constructor
32*/
33OBBTree::OBBTree(int depth, const modelInfo& modelInf)
34  : BVTree()
35{
36  this->depth = depth;
37  this->init();
38  this->spawnBVTree(modelInf);
39}
40
41
42
43void OBBTree::init()
44{
45  this->setClassID(CL_OBB_TREE, "OBBTree");
46  this->rootNode = NULL;
47  this->id = 0;
48}
49
50/**
51 *  standard deconstructor
52
53*/
54OBBTree::~OBBTree ()
55{
56  delete this->rootNode;
57}
58
59
60/**
61 *  this function creates a bv tree out of a modelInf structure
62 * @param modelInf the model info of a model (modelInfo), containing vertices, triangle and normal infos
63 */
64void OBBTree::spawnBVTree(const modelInfo& modelInf)
65{
66  if( unlikely(this->rootNode != NULL))
67  {
68    PRINTF(2)("The BVTree has already been spawned, flushing and respawning again...\n");
69    this->flushTree();
70  }
71  this->rootNode = new OBBTreeNode(*this, NULL, depth-1);
72
73  /* triangles indexes created */
74  int* triangleIndexes = new int[modelInf.numTriangles];
75  for( int i = 0; i < modelInf.numTriangles; ++i)
76    triangleIndexes[i] = i;
77
78  this->rootNode->spawnBVTree(modelInf, triangleIndexes, modelInf.numTriangles);
79}
80
81
82/**
83 *  release the current bv tree if any
84 */
85void OBBTree:: flushTree()
86{}
87
88
89/**
90 * this collides two bvtrees together. the trees are attached to pnodes Objects A and B
91 * @param nodeA: PNode of object A
92 * @param nodeB: Pnode of object B
93 */
94void OBBTree::collideWith(const WorldEntity& entity1, const WorldEntity& entity2) const
95{
96  if( likely(entity2.getOBBTree() != NULL) )
97    this->rootNode->collideWith(*(((OBBTree*)entity2.getOBBTree())->getRootNode()), entity1, entity2);
98}
99
100
101/**
102 *  draw bv tree
103 */
104void OBBTree::drawBV(int depth, int drawMode) const
105{
106  if( likely(this->rootNode != NULL))
107  {
108    this->rootNode->drawBV(depth, drawMode);
109  }
110}
111
112
113/**
114 *  some debug output and creation function
115 *
116 * doesn't work at the moment
117 */
118void OBBTree::debug()
119{
120  PRINT(0)("\n==============================| OBBTree::debug() |===\n");
121  PRINT(0)("=  Spawning Tree: Start\n");
122
123  /* generate some test vertices */
124  int const length = 9;
125  sVec3D* vertList = new sVec3D[length];
126//   sVec3D data[length]  = {{0.0, 0.0, 0.0},{1.0, 2.0, 5.0},{0.0, 6.0, 9.0},
127//                           {1.0, 4.0, 12.0}, {1.0, 2.0, 16.0}, {0.0, 0.0, 19.0},
128//                           {0.0, 3.0, 23.0}, {1.0, 5.0, 30.0}, {0.0, 10.0, 35.0}};
129
130  sVec3D data[length]  = {{0.0, 0.0, 0.0},{1.0, 2.0, 5.0},{1.0, 5.0, 30.0},
131                          {0.0, 3.0, 23.0}, {0.0, 6.0, 9.0}, {0.0, 10.0, 35.0},
132                          {1.0, 4.0, 12.0}, {1.0, 2.0, 16.0}, {0.0, 0.0, 19.0}};
133
134  for(int i = 0; i < length; ++i)
135    {
136      vertList[i][0] = data[i][0];
137      vertList[i][1] = data[i][1];
138      vertList[i][2] = data[i][2];
139    }
140
141//   this->spawnBVTree(vertList, length);
142
143  PRINT(0)("=  Spawning Tree: Finished\n");
144  PRINT(0)("=======================================================\n");
145
146}
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