[4588] | 1 | /* |
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[4541] | 2 | orxonox - the future of 3D-vertical-scrollers |
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| 3 | |
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| 4 | Copyright (C) 2004 orx |
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| 5 | |
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| 6 | This program is free software; you can redistribute it and/or modify |
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| 7 | it under the terms of the GNU General Public License as published by |
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| 8 | the Free Software Foundation; either version 2, or (at your option) |
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| 9 | any later version. |
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| 10 | |
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[4617] | 11 | ### File Specific: |
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[4541] | 12 | main-programmer: Patrick Boenzli |
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| 13 | co-programmer: ... |
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| 14 | */ |
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| 15 | |
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| 16 | #define DEBUG_SPECIAL_MODULE DEBUG_MODULE_COLLISION |
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| 17 | |
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| 18 | #include "obb_tree_node.h" |
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[4542] | 19 | #include "list.h" |
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| 20 | #include "obb.h" |
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[4616] | 21 | #include "obb_tree.h" |
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[5674] | 22 | #include "matrix.h" |
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[4550] | 23 | #include "abstract_model.h" |
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[5028] | 24 | #include "world_entity.h" |
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[4541] | 25 | |
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[5481] | 26 | #include "color.h" |
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[4543] | 27 | |
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[5511] | 28 | #include "debug.h" |
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[5431] | 29 | #include "glincl.h" |
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[4572] | 30 | |
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| 31 | |
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| 32 | |
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[4541] | 33 | using namespace std; |
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| 34 | |
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[5431] | 35 | float** OBBTreeNode::coMat = NULL; |
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| 36 | float** OBBTreeNode::eigvMat = NULL; |
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| 37 | float* OBBTreeNode::eigvlMat = NULL; |
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| 38 | int* OBBTreeNode::rotCount = NULL; |
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[5430] | 39 | GLUquadricObj* OBBTreeNode_sphereObj = NULL; |
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[4630] | 40 | |
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[4541] | 41 | /** |
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[4836] | 42 | * standard constructor |
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[4617] | 43 | */ |
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[5703] | 44 | OBBTreeNode::OBBTreeNode (const OBBTree* tree) |
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| 45 | : BVTreeNode() |
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[4541] | 46 | { |
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[4617] | 47 | this->setClassID(CL_OBB_TREE_NODE, "OBBTreeNode"); |
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[5703] | 48 | this->obbTree = tree; |
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[4618] | 49 | this->nodeLeft = NULL; |
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| 50 | this->nodeRight = NULL; |
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[4814] | 51 | this->bvElement = NULL; |
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[5699] | 52 | this->tmpVert1 = NULL; |
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| 53 | this->tmpVert2 = NULL; |
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[4630] | 54 | |
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[5693] | 55 | if( OBBTreeNode::coMat == NULL) |
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[4630] | 56 | { |
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[5431] | 57 | OBBTreeNode::coMat = new float*[4]; |
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[4630] | 58 | for(int i = 0; i < 4; i++) |
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[5431] | 59 | OBBTreeNode::coMat[i] = new float[4]; |
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[4630] | 60 | } |
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[5693] | 61 | if( OBBTreeNode::eigvMat == NULL) |
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[4630] | 62 | { |
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[5431] | 63 | OBBTreeNode::eigvMat = new float*[4]; |
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[5693] | 64 | for( int i = 0; i < 4; i++) |
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[5431] | 65 | OBBTreeNode::eigvMat[i] = new float[4]; |
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[4630] | 66 | } |
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[5431] | 67 | if( OBBTreeNode::eigvlMat == NULL) |
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[4630] | 68 | { |
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[5431] | 69 | OBBTreeNode::eigvlMat = new float[4]; |
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[4630] | 70 | } |
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[5431] | 71 | if( OBBTreeNode::rotCount == NULL) |
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| 72 | OBBTreeNode::rotCount = new int; |
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[4638] | 73 | |
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[5693] | 74 | if( OBBTreeNode_sphereObj == NULL) |
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[5430] | 75 | OBBTreeNode_sphereObj = gluNewQuadric(); |
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[4541] | 76 | } |
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| 77 | |
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| 78 | |
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| 79 | /** |
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[4836] | 80 | * standard deconstructor |
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[4617] | 81 | */ |
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[4588] | 82 | OBBTreeNode::~OBBTreeNode () |
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[4541] | 83 | { |
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[4814] | 84 | if( this->nodeLeft) |
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| 85 | { |
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| 86 | delete this->nodeLeft; |
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| 87 | this->nodeLeft = NULL; |
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| 88 | } |
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| 89 | if( this->nodeRight) |
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| 90 | { |
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| 91 | delete this->nodeRight; |
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| 92 | this->nodeRight = NULL; |
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| 93 | } |
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| 94 | if( this->bvElement) |
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| 95 | delete this->bvElement; |
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| 96 | this->bvElement = NULL; |
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[5699] | 97 | |
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| 98 | if (this->tmpVert1 != NULL) |
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| 99 | delete this->tmpVert1; |
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| 100 | if (this->tmpVert2 != NULL) |
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| 101 | delete this->tmpVert2; |
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[4541] | 102 | } |
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| 103 | |
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| 104 | |
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[5684] | 105 | /** |
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| 106 | * creates a new BVTree or BVTree partition |
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| 107 | * @param depth: how much more depth-steps to go: if == 1 don't go any deeper! |
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| 108 | * @param modInfo: model informations from the abstrac model |
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[5689] | 109 | * |
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[5684] | 110 | * this function creates the Bounding Volume tree from a modelInfo struct and bases its calculations |
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| 111 | * on the triangle informations (triangle soup not polygon soup) |
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| 112 | */ |
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[5702] | 113 | void OBBTreeNode::spawnBVTree(const int depth, const modelInfo& modelInf, |
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| 114 | const int* triangleIndexes, unsigned int length) |
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[5684] | 115 | { |
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| 116 | sVec3D* verticesList; |
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[5689] | 117 | |
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[5684] | 118 | PRINT(3)("\n"); |
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| 119 | PRINTF(3)("OBB Depth: %i, tree index: %i, numVertices: %i\n", depth, treeIndex, length); |
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| 120 | this->depth = depth; |
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[4542] | 121 | |
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[5684] | 122 | |
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| 123 | this->bvElement = new OBB(); |
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[5702] | 124 | |
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| 125 | this->bvElement->modelInf = &modelInf; |
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| 126 | this->bvElement->triangleIndexes = triangleIndexes; |
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| 127 | this->bvElement->numTriangles = length; |
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| 128 | |
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[5684] | 129 | PRINTF(3)("Created OBBox\n"); |
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[5702] | 130 | this->calculateBoxCovariance(this->bvElement, modelInf, triangleIndexes, length); |
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[5684] | 131 | PRINTF(3)("Calculated attributes1\n"); |
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[5702] | 132 | this->calculateBoxEigenvectors(this->bvElement, modelInf, triangleIndexes, length); |
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[5684] | 133 | PRINTF(3)("Calculated attributes2\n"); |
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[5702] | 134 | this->calculateBoxAxis(this->bvElement, modelInf, triangleIndexes, length); |
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[5684] | 135 | PRINTF(3)("Calculated attributes3\n"); |
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| 136 | |
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| 137 | /* if this is the first node, the vertices data are the original ones of the model itself, so dont delete them in cleanup */ |
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| 138 | if( this->treeIndex == 1) |
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| 139 | this->bvElement->bOrigVertices = true; |
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| 140 | |
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| 141 | if( likely( this->depth > 0)) |
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| 142 | { |
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| 143 | this->forkBox(this->bvElement); |
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| 144 | |
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| 145 | |
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| 146 | // if(this->tmpLen1 > 2) |
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| 147 | // { |
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| 148 | // OBBTreeNode* node1 = new OBBTreeNode(); |
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| 149 | // this->nodeLeft = node1; |
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| 150 | // this->nodeLeft->spawnBVTree(depth - 1, this->tmpVert1, this->tmpLen1); |
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| 151 | // } |
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| 152 | // else |
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| 153 | // { |
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| 154 | // PRINTF(3)("Aboarding tree walk: less than 3 vertices left\n"); |
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| 155 | // } |
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[5689] | 156 | // |
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[5684] | 157 | // if( this->tmpLen2 > 2) |
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| 158 | // { |
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| 159 | // OBBTreeNode* node2 = new OBBTreeNode(); |
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| 160 | // this->nodeRight = node2; |
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| 161 | // this->nodeRight->spawnBVTree(depth - 1, this->tmpVert2, this->tmpLen2); |
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| 162 | // } |
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| 163 | // else |
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| 164 | // { |
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| 165 | // PRINTF(3)("Abording tree walk: less than 3 vertices left\n"); |
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| 166 | // } |
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| 167 | |
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| 168 | } |
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| 169 | } |
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| 170 | |
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| 171 | |
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[4542] | 172 | /** |
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[4836] | 173 | * creates a new BVTree or BVTree partition |
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| 174 | * @param depth: how much more depth-steps to go: if == 1 don't go any deeper! |
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| 175 | * @param verticesList: the list of vertices of the object - each vertices triple is interpreted as a triangle |
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[5689] | 176 | * |
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[5684] | 177 | * this function creates an Bounding Volume tree from a vertices soup (no triangle data) |
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[4617] | 178 | */ |
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[5688] | 179 | void OBBTreeNode::spawnBVTree(const int depth, const sVec3D *verticesList, unsigned int length) |
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[4542] | 180 | { |
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[4717] | 181 | PRINT(3)("\n"); |
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| 182 | PRINTF(3)("OBB Depth: %i, tree index: %i, numVertices: %i\n", depth, treeIndex, length); |
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[4614] | 183 | this->depth = depth; |
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| 184 | |
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[4638] | 185 | |
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[4630] | 186 | this->bvElement = new OBB(); |
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[4638] | 187 | this->bvElement->vertices = verticesList; |
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| 188 | this->bvElement->numOfVertices = length; |
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| 189 | PRINTF(3)("Created OBBox\n"); |
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[4632] | 190 | this->calculateBoxCovariance(this->bvElement, verticesList, length); |
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[4638] | 191 | PRINTF(3)("Calculated attributes1\n"); |
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[4632] | 192 | this->calculateBoxEigenvectors(this->bvElement, verticesList, length); |
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[4638] | 193 | PRINTF(3)("Calculated attributes2\n"); |
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[4632] | 194 | this->calculateBoxAxis(this->bvElement, verticesList, length); |
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[4638] | 195 | PRINTF(3)("Calculated attributes3\n"); |
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[4617] | 196 | |
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[4814] | 197 | /* if this is the first node, the vertices data are the original ones of the model itself, so dont delete them in cleanup */ |
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| 198 | if( this->treeIndex == 1) |
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| 199 | this->bvElement->bOrigVertices = true; |
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[4632] | 200 | |
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[4614] | 201 | if( likely( this->depth > 0)) |
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| 202 | { |
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| 203 | this->forkBox(this->bvElement); |
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[4626] | 204 | |
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[4630] | 205 | |
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[4710] | 206 | if(this->tmpLen1 > 2) |
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[4638] | 207 | { |
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[5703] | 208 | OBBTreeNode* node1 = new OBBTreeNode(this->obbTree); |
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[4638] | 209 | this->nodeLeft = node1; |
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| 210 | this->nodeLeft->spawnBVTree(depth - 1, this->tmpVert1, this->tmpLen1); |
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| 211 | } |
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| 212 | else |
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| 213 | { |
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[4717] | 214 | PRINTF(3)("Aboarding tree walk: less than 3 vertices left\n"); |
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[4638] | 215 | } |
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[4630] | 216 | |
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[4710] | 217 | if( this->tmpLen2 > 2) |
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[4638] | 218 | { |
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[5703] | 219 | OBBTreeNode* node2 = new OBBTreeNode(this->obbTree); |
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[4638] | 220 | this->nodeRight = node2; |
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| 221 | this->nodeRight->spawnBVTree(depth - 1, this->tmpVert2, this->tmpLen2); |
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| 222 | } |
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| 223 | else |
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| 224 | { |
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[4717] | 225 | PRINTF(3)("Abording tree walk: less than 3 vertices left\n"); |
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[4638] | 226 | } |
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[4614] | 227 | } |
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[4557] | 228 | } |
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| 229 | |
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| 230 | |
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[5702] | 231 | void OBBTreeNode::calculateBoxCovariance(OBB* box, const modelInfo& modInfo, const int* triangleIndexes, unsigned int length) |
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[5684] | 232 | {} |
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[4557] | 233 | |
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[5684] | 234 | |
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[5688] | 235 | void OBBTreeNode::calculateBoxCovariance(OBB* box, const sVec3D* verticesList, unsigned int length) |
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[4557] | 236 | { |
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[4543] | 237 | float facelet[length]; //!< surface area of the i'th triangle of the convex hull |
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[5428] | 238 | float face = 0.0f; //!< surface area of the entire convex hull |
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[4588] | 239 | Vector centroid[length]; //!< centroid of the i'th convex hull |
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[4557] | 240 | Vector center; //!< the center of the entire hull |
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[4544] | 241 | Vector p, q, r; //!< holder of the polygon data, much more conveniant to work with Vector than sVec3d |
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[4545] | 242 | Vector t1, t2; //!< temporary values |
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[5692] | 243 | float covariance[3][3] = {0,0,0, 0,0,0, 0,0,0};//!< the covariance matrix |
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[4674] | 244 | int mode = 0; //!< mode = 0: vertex soup, no connections, mode = 1: 3 following verteces build a triangle |
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[4588] | 245 | |
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[4553] | 246 | this->numOfVertices = length; |
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| 247 | this->vertices = verticesList; |
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| 248 | |
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[4562] | 249 | |
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[4648] | 250 | if( likely(mode == 0)) |
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| 251 | { |
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| 252 | /* fist compute all the convex hull face/facelets and centroids */ |
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[5428] | 253 | for( int i = 0; i+3 < length ; i+=3) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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[4648] | 254 | { |
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| 255 | p = verticesList[i]; |
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| 256 | q = verticesList[i + 1]; |
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| 257 | r = verticesList[i + 2]; |
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[4638] | 258 | |
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[4648] | 259 | t1 = p - q; t2 = p - r; |
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[4638] | 260 | |
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[4648] | 261 | /* finding the facelet surface via cross-product */ |
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| 262 | facelet[i] = 0.5f * fabs( t1.cross(t2).len() ); |
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| 263 | /* update the entire convex hull surface */ |
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| 264 | face += facelet[i]; |
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| 265 | |
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| 266 | /* calculate the cetroid of the hull triangles */ |
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| 267 | centroid[i] = (p + q + r) * 1/3; |
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| 268 | /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */ |
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| 269 | center += centroid[i] * facelet[i]; |
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| 270 | } |
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| 271 | /* take the average of the centroid sum */ |
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| 272 | center /= face; |
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| 273 | PRINTF(3)("-- Calculated Center\n"); |
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| 274 | |
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| 275 | |
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| 276 | /* now calculate the covariance matrix - if not written in three for-loops, it would compute faster: minor */ |
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[5428] | 277 | for( int j = 0; j < 3; ++j) |
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[4648] | 278 | { |
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[5428] | 279 | for( int k = 0; k < 3; ++k) |
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[4648] | 280 | { |
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[5428] | 281 | for( int i = 0; i + 3 < length; i+=3) |
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[4648] | 282 | { |
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| 283 | p = verticesList[i]; |
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| 284 | q = verticesList[i + 1]; |
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| 285 | r = verticesList[i + 2]; |
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| 286 | |
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| 287 | covariance[j][k] = facelet[i] / (12.0f * face) * (9.0f * centroid[i][j] * centroid[i][k] + p[j] * p[k] + |
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| 288 | q[j] * q[k] + r[j] * r[k]) - center[j] * center[k]; |
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| 289 | } |
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| 290 | } |
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| 291 | } |
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| 292 | PRINTF(3)("-- Calculated Covariance\n"); |
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| 293 | } |
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| 294 | else if( mode == 1) |
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[4617] | 295 | { |
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[5428] | 296 | for( int i = 0; i + 3 < length; i+=3) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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[4648] | 297 | { |
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| 298 | p = verticesList[i]; |
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| 299 | q = verticesList[i + 1]; |
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| 300 | r = verticesList[i + 2]; |
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[4588] | 301 | |
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[4648] | 302 | centroid[i] = (p + q + r) / 3.0f; |
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| 303 | center += centroid[i]; |
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| 304 | } |
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| 305 | center /= length; |
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[4588] | 306 | |
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[4648] | 307 | for( int j = 0; j < 3; ++j) |
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| 308 | { |
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| 309 | for( int k = 0; k < 3; ++k) |
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| 310 | { |
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[5428] | 311 | for( int i = 0; i + 3 < length; i+=3) |
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[4648] | 312 | { |
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| 313 | p = verticesList[i]; |
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| 314 | q = verticesList[i +1]; |
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| 315 | r = verticesList[i + 2]; |
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[4545] | 316 | |
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[4648] | 317 | covariance[j][k] = p[j] * p[k] + q[j] * q[k] + r[j] + r[k]; |
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| 318 | } |
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| 319 | covariance[j][k] /= (3.0f * length); |
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| 320 | } |
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| 321 | } |
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| 322 | PRINTF(3)("-- Calculated Covariance\n"); |
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[4617] | 323 | } |
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[4648] | 324 | else if( mode == 2) |
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| 325 | { |
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| 326 | /* fist compute all the convex hull face/facelets and centroids */ |
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[5428] | 327 | for(int i = 0; i + 3 < length; i+=3) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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[4648] | 328 | { |
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| 329 | p = verticesList[i]; |
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| 330 | q = verticesList[i + 1]; |
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| 331 | r = verticesList[i + 2]; |
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[4562] | 332 | |
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[4648] | 333 | t1 = p - q; t2 = p - r; |
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[4562] | 334 | |
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[4648] | 335 | /* finding the facelet surface via cross-product */ |
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| 336 | facelet[i] = 0.5f * fabs( t1.cross(t2).len() ); |
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| 337 | /* update the entire convex hull surface */ |
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| 338 | face += facelet[i]; |
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| 339 | |
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| 340 | /* calculate the cetroid of the hull triangles */ |
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| 341 | centroid[i] = (p + q + r) * 1/3; |
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| 342 | /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */ |
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| 343 | center += centroid[i] * facelet[i]; |
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| 344 | } |
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| 345 | /* take the average of the centroid sum */ |
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| 346 | center /= face; |
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| 347 | PRINTF(3)("-- Calculated Center\n"); |
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| 348 | |
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| 349 | for( int j = 0; j < 3; ++j) |
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| 350 | { |
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| 351 | for( int k = 0; k < 3; ++k) |
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| 352 | { |
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[5428] | 353 | for( int i = 0; i + 3 < length; i+=3) |
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[4648] | 354 | { |
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| 355 | p = verticesList[i]; |
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| 356 | q = verticesList[i +1]; |
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| 357 | r = verticesList[i + 2]; |
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| 358 | |
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| 359 | covariance[j][k] = p[j] * p[k] + q[j] * q[k] + r[j] + r[k]; |
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| 360 | } |
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| 361 | covariance[j][k] /= (3.0f * length); |
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| 362 | } |
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| 363 | } |
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| 364 | PRINTF(3)("-- Calculated Covariance\n"); |
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| 365 | } |
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| 366 | else |
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[4617] | 367 | { |
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[4648] | 368 | for( int i = 0; i < length; ++i) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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[4545] | 369 | { |
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[4648] | 370 | center += verticesList[i]; |
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| 371 | } |
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| 372 | center /= length; |
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| 373 | |
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| 374 | for( int j = 0; j < 3; ++j) |
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| 375 | { |
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| 376 | for( int k = 0; k < 3; ++k) |
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[4617] | 377 | { |
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[5428] | 378 | for( int i = 0; i + 3 < length; i+=3) |
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[4648] | 379 | { |
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| 380 | p = verticesList[i]; |
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| 381 | q = verticesList[i +1]; |
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| 382 | r = verticesList[i + 2]; |
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[4544] | 383 | |
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[4648] | 384 | covariance[j][k] = p[j] * p[k] + q[j] * q[k] + r[j] + r[k]; |
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| 385 | } |
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| 386 | covariance[j][k] /= (3.0f * length); |
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[4617] | 387 | } |
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[4545] | 388 | } |
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[4648] | 389 | PRINTF(3)("-- Calculated Covariance\n"); |
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[4617] | 390 | } |
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[4562] | 391 | |
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[4648] | 392 | PRINTF(3)("\nVertex Data:\n"); |
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[4638] | 393 | for(int i = 0; i < length; i++) |
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| 394 | { |
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[4648] | 395 | PRINTF(3)("vertex %i: %f, %f, %f\n", i, box->vertices[i][0], box->vertices[i][1], box->vertices[i][2]); |
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[4638] | 396 | } |
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[4588] | 397 | |
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[4648] | 398 | |
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[4675] | 399 | PRINTF(3)("\nCovariance Matrix:\n"); |
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[4674] | 400 | for(int j = 0; j < 3; ++j) |
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| 401 | { |
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[4675] | 402 | PRINT(3)(" |"); |
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[4674] | 403 | for(int k = 0; k < 3; ++k) |
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| 404 | { |
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[4675] | 405 | PRINT(3)(" \b%f ", covariance[j][k]); |
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[4674] | 406 | } |
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[4675] | 407 | PRINT(3)(" |\n"); |
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[4674] | 408 | } |
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| 409 | |
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[4638] | 410 | PRINTF(3)("center: %f, %f, %f\n", center.x, center.y, center.z); |
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[4553] | 411 | |
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[4588] | 412 | |
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[4674] | 413 | for(int i = 0; i < 3; ++i) |
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| 414 | { |
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| 415 | box->covarianceMatrix[i][0] = covariance[i][0]; |
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| 416 | box->covarianceMatrix[i][1] = covariance[i][1]; |
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| 417 | box->covarianceMatrix[i][2] = covariance[i][2]; |
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| 418 | } |
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[4560] | 419 | *box->center = center; |
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[4638] | 420 | PRINTF(3)("-- Written Result to obb\n"); |
---|
[4631] | 421 | } |
---|
[4557] | 422 | |
---|
[4631] | 423 | |
---|
[5702] | 424 | void OBBTreeNode::calculateBoxEigenvectors(OBB* box, const modelInfo& modInfo, |
---|
| 425 | const int* triangleIndexes, unsigned int length) |
---|
[5684] | 426 | {} |
---|
[4631] | 427 | |
---|
[5688] | 428 | void OBBTreeNode::calculateBoxEigenvectors(OBB* box, const sVec3D* verticesList, unsigned int length) |
---|
[4631] | 429 | { |
---|
| 430 | |
---|
[4557] | 431 | /* now getting spanning vectors of the sub-space: |
---|
[4617] | 432 | the eigenvectors of a symmertric matrix, such as the |
---|
| 433 | covarience matrix are mutually orthogonal. |
---|
| 434 | after normalizing them, they can be used as a the basis |
---|
| 435 | vectors |
---|
[4557] | 436 | */ |
---|
[5699] | 437 | Vector axis[3]; //!< the references to the obb axis |
---|
[4588] | 438 | |
---|
[5694] | 439 | Matrix covMat( box->covarianceMatrix ); |
---|
[5674] | 440 | covMat.getEigenVectors(axis[0], axis[1], axis[2] ); |
---|
[4627] | 441 | |
---|
[5449] | 442 | |
---|
[4630] | 443 | /* new jacobi tests */ |
---|
[5674] | 444 | // JacobI(OBBTreeNode::coMat, OBBTreeNode::eigvlMat, OBBTreeNode::eigvMat, OBBTreeNode::rotCount); |
---|
| 445 | // PRINTF(3)("-- Done Jacobi Decomposition\n"); |
---|
[4628] | 446 | |
---|
[4627] | 447 | |
---|
[5491] | 448 | // PRINTF(0)("Jacobi\n"); |
---|
| 449 | // for(int j = 0; j < 3; ++j) |
---|
[4629] | 450 | // { |
---|
[5491] | 451 | // printf(" |"); |
---|
| 452 | // for(int k = 0; k < 3; ++k) |
---|
[4629] | 453 | // { |
---|
[5491] | 454 | // printf(" \t%f ", OBBTreeNode::OBBTreeNode::eigvMat[j][k]); |
---|
[4629] | 455 | // } |
---|
[5491] | 456 | // printf(" |\n"); |
---|
[4629] | 457 | // } |
---|
| 458 | |
---|
[5674] | 459 | /* axis[0].x = OBBTreeNode::eigvMat[0][0]; axis[0].y = OBBTreeNode::eigvMat[1][0]; axis[0].z = OBBTreeNode::eigvMat[2][0]; |
---|
[5449] | 460 | axis[1].x = OBBTreeNode::eigvMat[0][1]; axis[1].y = OBBTreeNode::eigvMat[1][1]; axis[1].z = OBBTreeNode::eigvMat[2][1]; |
---|
| 461 | axis[2].x = OBBTreeNode::eigvMat[0][2]; axis[2].y = OBBTreeNode::eigvMat[1][2]; axis[2].z = OBBTreeNode::eigvMat[2][2]; |
---|
[4705] | 462 | axis[0].normalize(); |
---|
| 463 | axis[1].normalize(); |
---|
[5674] | 464 | axis[2].normalize();*/ |
---|
[5699] | 465 | box->axis[0] = axis[0]; |
---|
| 466 | box->axis[1] = axis[1]; |
---|
| 467 | box->axis[2] = axis[2]; |
---|
[4660] | 468 | |
---|
[5492] | 469 | // PRINTF(0)("-- Got Axis\n"); |
---|
| 470 | // |
---|
| 471 | // PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[0].x, box->axis[0].y, box->axis[0].z); |
---|
| 472 | // PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[1].x, box->axis[1].y, box->axis[1].z); |
---|
| 473 | // PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[2].x, box->axis[2].y, box->axis[2].z); |
---|
[4632] | 474 | } |
---|
[4588] | 475 | |
---|
[4626] | 476 | |
---|
[5702] | 477 | void OBBTreeNode::calculateBoxAxis(OBB* box, const modelInfo& modInfo, const int* triangleIndexes, unsigned int length) |
---|
[5686] | 478 | { |
---|
[5689] | 479 | this->calculateBoxAxis(box, (const sVec3D*)modInfo.pVertices, modInfo.numVertices); |
---|
[5686] | 480 | } |
---|
[5684] | 481 | |
---|
| 482 | |
---|
[5686] | 483 | |
---|
[5688] | 484 | void OBBTreeNode::calculateBoxAxis(OBB* box, const sVec3D* verticesList, unsigned int length) |
---|
[4631] | 485 | { |
---|
[4630] | 486 | |
---|
[4576] | 487 | /* now get the axis length */ |
---|
[4578] | 488 | Line ax[3]; //!< the axis |
---|
[5699] | 489 | float halfLength[3]; //!< half length of the axis |
---|
[4578] | 490 | float tmpLength; //!< tmp save point for the length |
---|
[5699] | 491 | Plane p0(box->axis[0], *box->center); //!< the axis planes |
---|
[4660] | 492 | Plane p1(box->axis[1], *box->center); |
---|
| 493 | Plane p2(box->axis[2], *box->center); |
---|
[4658] | 494 | float maxLength[3]; |
---|
| 495 | float minLength[3]; |
---|
[4588] | 496 | |
---|
[4658] | 497 | |
---|
| 498 | /* get a bad bounding box */ |
---|
[4589] | 499 | halfLength[0] = -1.0f; |
---|
[4585] | 500 | for(int j = 0; j < length; ++j) |
---|
[4658] | 501 | { |
---|
[4661] | 502 | tmpLength = fabs(p0.distancePoint(vertices[j])); |
---|
[4658] | 503 | if( tmpLength > halfLength[0]) |
---|
[4659] | 504 | halfLength[0] = tmpLength; |
---|
[4658] | 505 | } |
---|
| 506 | |
---|
| 507 | halfLength[1] = -1.0f; |
---|
| 508 | for(int j = 0; j < length; ++j) |
---|
| 509 | { |
---|
| 510 | tmpLength = fabs(p1.distancePoint(vertices[j])); |
---|
| 511 | if( tmpLength > halfLength[1]) |
---|
[4659] | 512 | halfLength[1] = tmpLength; |
---|
[4658] | 513 | } |
---|
| 514 | |
---|
| 515 | halfLength[2] = -1.0f; |
---|
| 516 | for(int j = 0; j < length; ++j) |
---|
| 517 | { |
---|
[4661] | 518 | tmpLength = fabs(p2.distancePoint(vertices[j])); |
---|
[4658] | 519 | if( tmpLength > halfLength[2]) |
---|
[4659] | 520 | halfLength[2] = tmpLength; |
---|
[4658] | 521 | } |
---|
| 522 | |
---|
| 523 | |
---|
| 524 | |
---|
| 525 | /* get the maximal dimensions of the body in all directions */ |
---|
[4710] | 526 | maxLength[0] = p0.distancePoint(vertices[0]); |
---|
| 527 | minLength[0] = p0.distancePoint(vertices[0]); |
---|
[4660] | 528 | for(int j = 0; j < length; ++j) |
---|
| 529 | { |
---|
| 530 | tmpLength = p0.distancePoint(vertices[j]); |
---|
| 531 | if( tmpLength > maxLength[0]) |
---|
| 532 | maxLength[0] = tmpLength; |
---|
| 533 | else if( tmpLength < minLength[0]) |
---|
| 534 | minLength[0] = tmpLength; |
---|
| 535 | } |
---|
[4578] | 536 | |
---|
[4710] | 537 | maxLength[1] = p1.distancePoint(vertices[0]); |
---|
| 538 | minLength[1] = p1.distancePoint(vertices[0]); |
---|
[4660] | 539 | for(int j = 0; j < length; ++j) |
---|
| 540 | { |
---|
[4661] | 541 | tmpLength = p1.distancePoint(vertices[j]); |
---|
[4660] | 542 | if( tmpLength > maxLength[1]) |
---|
| 543 | maxLength[1] = tmpLength; |
---|
| 544 | else if( tmpLength < minLength[1]) |
---|
| 545 | minLength[1] = tmpLength; |
---|
| 546 | } |
---|
[4585] | 547 | |
---|
[4710] | 548 | maxLength[2] = p2.distancePoint(vertices[0]); |
---|
| 549 | minLength[2] = p2.distancePoint(vertices[0]); |
---|
[4660] | 550 | for(int j = 0; j < length; ++j) |
---|
| 551 | { |
---|
[4661] | 552 | tmpLength = p2.distancePoint(vertices[j]); |
---|
[4660] | 553 | if( tmpLength > maxLength[2]) |
---|
| 554 | maxLength[2] = tmpLength; |
---|
| 555 | else if( tmpLength < minLength[2]) |
---|
| 556 | minLength[2] = tmpLength; |
---|
| 557 | } |
---|
[4585] | 558 | |
---|
[4660] | 559 | |
---|
| 560 | /* calculate the real centre of the body by using the axis length */ |
---|
[4668] | 561 | float centerOffset[3]; |
---|
| 562 | float newHalfLength[3]; |
---|
[4660] | 563 | for(int i = 0; i < 3; ++i) |
---|
| 564 | { |
---|
[4674] | 565 | PRINTF(3)("max: %f, min: %f \n", maxLength[i], minLength[i]); |
---|
[4710] | 566 | centerOffset[i] = (maxLength[i] + minLength[i]) / 2.0f; // min length is negatie |
---|
| 567 | newHalfLength[i] = (maxLength[i] - minLength[i]) / 2.0f; // min length is negative |
---|
[4668] | 568 | *box->center += (box->axis[i] * centerOffset[i]); // update the new center vector |
---|
| 569 | halfLength[i] = newHalfLength[i]; |
---|
[4660] | 570 | } |
---|
| 571 | |
---|
| 572 | |
---|
| 573 | |
---|
[5699] | 574 | box->halfLength[0] = halfLength[0]; |
---|
| 575 | box->halfLength[1] = halfLength[1]; |
---|
| 576 | box->halfLength[2] = halfLength[2]; |
---|
[4638] | 577 | PRINTF(3)("-- Written Axis to obb\n"); |
---|
| 578 | PRINTF(3)("-- Finished Calculating Attributes\n"); |
---|
[4542] | 579 | } |
---|
| 580 | |
---|
| 581 | |
---|
[4609] | 582 | |
---|
| 583 | /** |
---|
| 584 | \brief this separates an ob-box in the middle |
---|
[4836] | 585 | * @param box: the box to separate |
---|
[4609] | 586 | |
---|
| 587 | this will separate the box into to smaller boxes. the separation is done along the middle of the longest axis |
---|
| 588 | */ |
---|
[4557] | 589 | void OBBTreeNode::forkBox(OBB* box) |
---|
| 590 | { |
---|
| 591 | /* get the longest axis of the box */ |
---|
[4609] | 592 | float aLength = -1.0f; //!< the length of the longest axis |
---|
| 593 | int axisIndex = 0; //!< this is the nr of the longest axis |
---|
| 594 | |
---|
[4557] | 595 | for(int i = 0; i < 3; ++i) |
---|
[4609] | 596 | { |
---|
| 597 | if( aLength < box->halfLength[i]) |
---|
[4557] | 598 | { |
---|
[4609] | 599 | aLength = box->halfLength[i]; |
---|
| 600 | axisIndex = i; |
---|
[4557] | 601 | } |
---|
[4609] | 602 | } |
---|
[4588] | 603 | |
---|
[4688] | 604 | PRINTF(3)("longest axis is: nr %i with a half-length of: %f\n", axisIndex, aLength); |
---|
[4609] | 605 | |
---|
| 606 | |
---|
[4557] | 607 | /* get the closest vertex near the center */ |
---|
[4611] | 608 | float dist = 999999.0f; //!< the smallest distance to each vertex |
---|
[4609] | 609 | float tmpDist; //!< temporary distance |
---|
| 610 | int vertexIndex; |
---|
[4660] | 611 | Plane middlePlane(box->axis[axisIndex], *box->center); //!< the middle plane |
---|
[4588] | 612 | |
---|
[4660] | 613 | vertexIndex = 0; |
---|
[4609] | 614 | for(int i = 0; i < box->numOfVertices; ++i) |
---|
| 615 | { |
---|
[4611] | 616 | tmpDist = fabs(middlePlane.distancePoint(box->vertices[i])); |
---|
| 617 | if( tmpDist < dist) |
---|
| 618 | { |
---|
[4609] | 619 | dist = tmpDist; |
---|
[4611] | 620 | vertexIndex = i; |
---|
| 621 | } |
---|
[4609] | 622 | } |
---|
| 623 | |
---|
[4710] | 624 | PRINTF(3)("\nthe clostest vertex is nr: %i, with a dist of: %f\n", vertexIndex ,dist); |
---|
[4609] | 625 | |
---|
| 626 | |
---|
[4611] | 627 | /* now definin the separation plane through this specified nearest point and partition |
---|
[4617] | 628 | the points depending on which side they are located |
---|
[4611] | 629 | */ |
---|
[5688] | 630 | tList<const sVec3D> partition1; //!< the vertex partition 1 |
---|
| 631 | tList<const sVec3D> partition2; //!< the vertex partition 2 |
---|
[4611] | 632 | |
---|
[4710] | 633 | |
---|
[4695] | 634 | PRINTF(3)("vertex index: %i, of %i\n", vertexIndex, box->numOfVertices); |
---|
[5699] | 635 | this->separationPlane = Plane(box->axis[axisIndex], box->vertices[vertexIndex]); //!< separation plane |
---|
[4632] | 636 | this->sepPlaneCenter = &box->vertices[vertexIndex]; |
---|
| 637 | this->longestAxisIndex = axisIndex; |
---|
| 638 | |
---|
[4612] | 639 | for(int i = 0; i < box->numOfVertices; ++i) |
---|
| 640 | { |
---|
[4710] | 641 | if( i == vertexIndex) continue; |
---|
[5699] | 642 | tmpDist = this->separationPlane.distancePoint(box->vertices[i]); |
---|
[4710] | 643 | if( tmpDist > 0.0) |
---|
| 644 | partition1.add(&box->vertices[i]); /* positive numbers plus zero */ |
---|
[4612] | 645 | else |
---|
[4710] | 646 | partition2.add(&box->vertices[i]); /* negatice numbers */ |
---|
[4612] | 647 | } |
---|
[4613] | 648 | partition1.add(&box->vertices[vertexIndex]); |
---|
[4710] | 649 | partition2.add(&box->vertices[vertexIndex]); |
---|
[4611] | 650 | |
---|
[4710] | 651 | PRINTF(3)("\npartition1: got %i vertices/ partition 2: got %i vertices\n", partition1.getSize(), partition2.getSize()); |
---|
[4612] | 652 | |
---|
[4613] | 653 | |
---|
| 654 | /* now comes the separation into two different sVec3D arrays */ |
---|
[5688] | 655 | tIterator<const sVec3D>* iterator; //!< the iterator to go through the lists |
---|
| 656 | const sVec3D* element; //!< the elements |
---|
[4613] | 657 | int index; //!< index storage place |
---|
| 658 | sVec3D* vertList1; //!< the vertex list 1 |
---|
| 659 | sVec3D* vertList2; //!< the vertex list 2 |
---|
| 660 | |
---|
| 661 | vertList1 = new sVec3D[partition1.getSize()]; |
---|
| 662 | vertList2 = new sVec3D[partition2.getSize()]; |
---|
| 663 | |
---|
| 664 | iterator = partition1.getIterator(); |
---|
[5115] | 665 | element = iterator->firstElement(); |
---|
[4613] | 666 | index = 0; |
---|
| 667 | while( element != NULL) |
---|
| 668 | { |
---|
| 669 | vertList1[index][0] = element[0][0]; |
---|
| 670 | vertList1[index][1] = element[0][1]; |
---|
| 671 | vertList1[index][2] = element[0][2]; |
---|
| 672 | ++index; |
---|
| 673 | element = iterator->nextElement(); |
---|
| 674 | } |
---|
[5699] | 675 | delete iterator; |
---|
[4638] | 676 | // PRINTF(0)("\npartition 1:\n"); |
---|
[4626] | 677 | // for(int i = 0; i < partition1.getSize(); ++i) |
---|
| 678 | // { |
---|
[4638] | 679 | // PRINTF(0)("v[%i][0] = %f,\tv[%i][1] = %f,\tv[%i][1] = %f\n", i, vertList1[i][0], i, vertList1[i][1], i, vertList1[i][2]); |
---|
[4626] | 680 | // } |
---|
[4613] | 681 | |
---|
| 682 | iterator = partition2.getIterator(); |
---|
[5115] | 683 | element = iterator->firstElement(); |
---|
[4613] | 684 | index = 0; |
---|
| 685 | while( element != NULL) |
---|
| 686 | { |
---|
| 687 | vertList2[index][0] = element[0][0]; |
---|
| 688 | vertList2[index][1] = element[0][1]; |
---|
| 689 | vertList2[index][2] = element[0][2]; |
---|
| 690 | ++index; |
---|
| 691 | element = iterator->nextElement(); |
---|
| 692 | } |
---|
| 693 | |
---|
[5699] | 694 | if (this->tmpVert1 != NULL) |
---|
| 695 | delete[] this->tmpVert1; |
---|
[4630] | 696 | this->tmpVert1 = vertList1; |
---|
[5699] | 697 | if (this->tmpVert2 != NULL) |
---|
| 698 | delete[] this->tmpVert2; |
---|
[4630] | 699 | this->tmpVert2 = vertList2; |
---|
| 700 | this->tmpLen1 = partition1.getSize(); |
---|
| 701 | this->tmpLen2 = partition2.getSize(); |
---|
| 702 | |
---|
[4638] | 703 | delete iterator; |
---|
| 704 | |
---|
| 705 | // PRINTF(0)("\npartition 2:\n"); |
---|
[4626] | 706 | // for(int i = 0; i < partition2.getSize(); ++i) |
---|
| 707 | // { |
---|
[4638] | 708 | // PRINTF(0)("v[%i][0] = %f,\tv[%i][1] = %f,\tv[%i][1] = %f\n", i, vertList2[i][0], i, vertList2[i][1], i, vertList2[i][2]); |
---|
[4626] | 709 | // } |
---|
[4557] | 710 | } |
---|
| 711 | |
---|
| 712 | |
---|
[4626] | 713 | |
---|
| 714 | |
---|
[5028] | 715 | void OBBTreeNode::collideWith(BVTreeNode* treeNode, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
[4695] | 716 | { |
---|
[4705] | 717 | PRINTF(3)("collideWith\n"); |
---|
[4695] | 718 | /* if the obb overlap, make subtests: check which node is realy overlaping */ |
---|
[4705] | 719 | PRINT(3)("Checking OBB %i vs %i: ", this->getIndex(), treeNode->getIndex()); |
---|
[4718] | 720 | if( unlikely(treeNode == NULL)) return; |
---|
[5042] | 721 | |
---|
[4700] | 722 | if( this->overlapTest(this->bvElement, ((OBBTreeNode*)treeNode)->bvElement, nodeA, nodeB)) |
---|
[4695] | 723 | { |
---|
[5044] | 724 | PRINTF(3)("collision @ lvl %i, object %s vs. %s, (%p, %p)\n", this->depth, nodeA->getClassName(), nodeB->getClassName(), this->nodeLeft, this->nodeRight); |
---|
[5038] | 725 | |
---|
[4695] | 726 | /* check if left node overlaps */ |
---|
[4704] | 727 | if( likely( this->nodeLeft != NULL)) |
---|
| 728 | { |
---|
[4705] | 729 | PRINT(3)("Checking OBB %i vs %i: ", this->nodeLeft->getIndex(), treeNode->getIndex()); |
---|
[4700] | 730 | if( this->overlapTest(this->nodeLeft->bvElement, ((OBBTreeNode*)treeNode)->bvElement, nodeA, nodeB)) |
---|
[4704] | 731 | { |
---|
[4700] | 732 | this->nodeLeft->collideWith(((OBBTreeNode*)treeNode)->nodeLeft, nodeA, nodeB); |
---|
[4704] | 733 | this->nodeLeft->collideWith(((OBBTreeNode*)treeNode)->nodeRight, nodeA, nodeB); |
---|
| 734 | } |
---|
| 735 | } |
---|
[4695] | 736 | /* check if right node overlaps */ |
---|
[4704] | 737 | if( likely( this->nodeRight != NULL)) |
---|
| 738 | { |
---|
[4705] | 739 | PRINT(3)("Checking OBB %i vs %i: ", this->nodeRight->getIndex(), treeNode->getIndex()); |
---|
[4700] | 740 | if(this->overlapTest(this->nodeRight->bvElement, ((OBBTreeNode*)treeNode)->bvElement, nodeA, nodeB)) |
---|
[4704] | 741 | { |
---|
| 742 | this->nodeRight->collideWith(((OBBTreeNode*)treeNode)->nodeLeft, nodeA, nodeB); |
---|
| 743 | this->nodeRight->collideWith(((OBBTreeNode*)treeNode)->nodeRight, nodeA, nodeB); |
---|
| 744 | } |
---|
[5044] | 745 | } |
---|
[5028] | 746 | |
---|
[5044] | 747 | /* so there is a collision and this is the last box in the tree (i.e. leaf) */ |
---|
| 748 | if( unlikely(this->nodeRight == NULL && this->nodeLeft == NULL)) |
---|
| 749 | { |
---|
[5046] | 750 | nodeA->collidesWith(nodeB, *((OBBTreeNode*)treeNode)->bvElement->center); |
---|
| 751 | |
---|
| 752 | nodeB->collidesWith(nodeA, *this->bvElement->center); |
---|
[4704] | 753 | } |
---|
[5044] | 754 | |
---|
[4695] | 755 | } |
---|
| 756 | } |
---|
[4542] | 757 | |
---|
| 758 | |
---|
[4626] | 759 | |
---|
[5028] | 760 | bool OBBTreeNode::overlapTest(OBB* boxA, OBB* boxB, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
[4695] | 761 | { |
---|
[4696] | 762 | /* first check all axis */ |
---|
[4708] | 763 | Vector t; |
---|
[4700] | 764 | float rA = 0.0f; |
---|
| 765 | float rB = 0.0f; |
---|
| 766 | Vector l; |
---|
[4708] | 767 | Vector rotAxisA[3]; |
---|
| 768 | Vector rotAxisB[3]; |
---|
[4626] | 769 | |
---|
[4708] | 770 | rotAxisA[0] = nodeA->getAbsDir().apply(boxA->axis[0]); |
---|
| 771 | rotAxisA[1] = nodeA->getAbsDir().apply(boxA->axis[1]); |
---|
| 772 | rotAxisA[2] = nodeA->getAbsDir().apply(boxA->axis[2]); |
---|
| 773 | |
---|
| 774 | rotAxisB[0] = nodeB->getAbsDir().apply(boxB->axis[0]); |
---|
| 775 | rotAxisB[1] = nodeB->getAbsDir().apply(boxB->axis[1]); |
---|
| 776 | rotAxisB[2] = nodeB->getAbsDir().apply(boxB->axis[2]); |
---|
| 777 | |
---|
| 778 | t = nodeA->getAbsCoor() + nodeA->getAbsDir().apply(*boxA->center) - ( nodeB->getAbsCoor() + nodeB->getAbsDir().apply(*boxB->center)); |
---|
| 779 | |
---|
| 780 | // printf("\n"); |
---|
| 781 | // printf("(%f, %f, %f) -> (%f, %f, %f)\n", boxA->axis[0].x, boxA->axis[0].y, boxA->axis[0].z, rotAxisA[0].x, rotAxisA[0].y, rotAxisA[0].z); |
---|
| 782 | // printf("(%f, %f, %f) -> (%f, %f, %f)\n", boxA->axis[1].x, boxA->axis[1].y, boxA->axis[1].z, rotAxisA[1].x, rotAxisA[1].y, rotAxisA[1].z); |
---|
| 783 | // printf("(%f, %f, %f) -> (%f, %f, %f)\n", boxA->axis[2].x, boxA->axis[2].y, boxA->axis[2].z, rotAxisA[2].x, rotAxisA[2].y, rotAxisA[2].z); |
---|
| 784 | // |
---|
| 785 | // printf("(%f, %f, %f) -> (%f, %f, %f)\n", boxB->axis[0].x, boxB->axis[0].y, boxB->axis[0].z, rotAxisB[0].x, rotAxisB[0].y, rotAxisB[0].z); |
---|
| 786 | // printf("(%f, %f, %f) -> (%f, %f, %f)\n", boxB->axis[1].x, boxB->axis[1].y, boxB->axis[1].z, rotAxisB[1].x, rotAxisB[1].y, rotAxisB[1].z); |
---|
| 787 | // printf("(%f, %f, %f) -> (%f, %f, %f)\n", boxB->axis[2].x, boxB->axis[2].y, boxB->axis[2].z, rotAxisB[2].x, rotAxisB[2].y, rotAxisB[2].z); |
---|
| 788 | |
---|
| 789 | |
---|
[4703] | 790 | /* All 3 axis of the object A */ |
---|
[4701] | 791 | for( int j = 0; j < 3; ++j) |
---|
[4705] | 792 | { |
---|
| 793 | rA = 0.0f; |
---|
| 794 | rB = 0.0f; |
---|
[4708] | 795 | l = rotAxisA[j]; |
---|
[4705] | 796 | |
---|
[4708] | 797 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 798 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 799 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
[4705] | 800 | |
---|
[4708] | 801 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 802 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 803 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
[4705] | 804 | |
---|
| 805 | PRINTF(3)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
| 806 | |
---|
| 807 | if( (rA + rB) < fabs(t.dot(l))) |
---|
[4700] | 808 | { |
---|
[5689] | 809 | PRINT(3)("no Collision\n"); |
---|
[4705] | 810 | return false; |
---|
| 811 | } |
---|
| 812 | } |
---|
[4700] | 813 | |
---|
[4705] | 814 | /* All 3 axis of the object B */ |
---|
| 815 | for( int j = 0; j < 3; ++j) |
---|
| 816 | { |
---|
| 817 | rA = 0.0f; |
---|
| 818 | rB = 0.0f; |
---|
[4708] | 819 | l = rotAxisB[j]; |
---|
[4701] | 820 | |
---|
[4708] | 821 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 822 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 823 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
[4700] | 824 | |
---|
[4708] | 825 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 826 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 827 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
[4703] | 828 | |
---|
[4705] | 829 | PRINTF(3)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
| 830 | |
---|
| 831 | if( (rA + rB) < fabs(t.dot(l))) |
---|
| 832 | { |
---|
[5689] | 833 | PRINT(3)("no Collision\n"); |
---|
[4705] | 834 | return false; |
---|
[4701] | 835 | } |
---|
[4705] | 836 | } |
---|
[4700] | 837 | |
---|
[4705] | 838 | |
---|
| 839 | /* Now check for all face cross products */ |
---|
| 840 | |
---|
| 841 | for( int j = 0; j < 3; ++j) |
---|
| 842 | { |
---|
| 843 | for(int k = 0; k < 3; ++k ) |
---|
[4701] | 844 | { |
---|
| 845 | rA = 0.0f; |
---|
| 846 | rB = 0.0f; |
---|
[4708] | 847 | l = rotAxisA[j].cross(rotAxisB[k]); |
---|
[4701] | 848 | |
---|
[4708] | 849 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 850 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 851 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
[4701] | 852 | |
---|
[4708] | 853 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 854 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 855 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
[4701] | 856 | |
---|
[4703] | 857 | PRINTF(3)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
| 858 | |
---|
[4701] | 859 | if( (rA + rB) < fabs(t.dot(l))) |
---|
| 860 | { |
---|
[4705] | 861 | PRINT(3)("keine Kollision\n"); |
---|
[4701] | 862 | return false; |
---|
| 863 | } |
---|
[4703] | 864 | } |
---|
[4705] | 865 | } |
---|
[4701] | 866 | |
---|
| 867 | |
---|
[4705] | 868 | boxA->bCollided = true; /* use this ONLY(!!!!) for drawing operations */ |
---|
| 869 | boxB->bCollided = true; |
---|
| 870 | PRINT(3)("Kollision!\n"); |
---|
| 871 | return true; |
---|
[4695] | 872 | } |
---|
| 873 | |
---|
| 874 | |
---|
[4696] | 875 | |
---|
[4708] | 876 | |
---|
| 877 | |
---|
[5481] | 878 | void OBBTreeNode::drawBV(int depth, int drawMode, const Vector& color, bool top) const |
---|
[4553] | 879 | { |
---|
[4635] | 880 | |
---|
| 881 | /* draw the model itself, there is some problem concerning this: the vertices are drawn multiple times */ |
---|
| 882 | if( drawMode & DRAW_MODEL || drawMode & DRAW_ALL) |
---|
| 883 | { |
---|
[4638] | 884 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4622] | 885 | { |
---|
[4712] | 886 | if( drawMode & DRAW_POINTS) |
---|
| 887 | glBegin(GL_POINTS); |
---|
[4638] | 888 | for(int i = 0; i < this->bvElement->numOfVertices; ++i) |
---|
| 889 | { |
---|
[4712] | 890 | if( drawMode & DRAW_POINTS) |
---|
| 891 | glVertex3f(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]); |
---|
| 892 | else |
---|
| 893 | { |
---|
| 894 | glPushMatrix(); |
---|
| 895 | glTranslatef(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]); |
---|
[5430] | 896 | gluSphere(OBBTreeNode_sphereObj, 0.1, 10, 10); |
---|
[4712] | 897 | glPopMatrix(); |
---|
| 898 | } |
---|
[4638] | 899 | } |
---|
[4712] | 900 | if( drawMode & DRAW_POINTS) |
---|
| 901 | glEnd(); |
---|
[4622] | 902 | } |
---|
[4635] | 903 | } |
---|
[4542] | 904 | |
---|
[5481] | 905 | if (top) |
---|
| 906 | { |
---|
| 907 | glPushAttrib(GL_ENABLE_BIT); |
---|
| 908 | glDisable(GL_LIGHTING); |
---|
| 909 | glDisable(GL_TEXTURE_2D); |
---|
| 910 | } |
---|
| 911 | glColor3f(color.x, color.y, color.z); |
---|
[4542] | 912 | |
---|
[5481] | 913 | |
---|
[4589] | 914 | /* draw world axes */ |
---|
[4676] | 915 | if( drawMode & DRAW_BV_AXIS) |
---|
| 916 | { |
---|
| 917 | glBegin(GL_LINES); |
---|
[5481] | 918 | glColor3f(1.0, 0.0, 0.0); |
---|
[4676] | 919 | glVertex3f(0.0, 0.0, 0.0); |
---|
| 920 | glVertex3f(3.0, 0.0, 0.0); |
---|
[4589] | 921 | |
---|
[5481] | 922 | glColor3f(0.0, 1.0, 0.0); |
---|
[4676] | 923 | glVertex3f(0.0, 0.0, 0.0); |
---|
| 924 | glVertex3f(0.0, 3.0, 0.0); |
---|
[4589] | 925 | |
---|
[5481] | 926 | glColor3f(0.0, 0.0, 1.0); |
---|
[4676] | 927 | glVertex3f(0.0, 0.0, 0.0); |
---|
| 928 | glVertex3f(0.0, 0.0, 3.0); |
---|
| 929 | glEnd(); |
---|
| 930 | } |
---|
[4674] | 931 | |
---|
[4688] | 932 | |
---|
[4635] | 933 | if( drawMode & DRAW_BV_AXIS || drawMode & DRAW_ALL) |
---|
| 934 | { |
---|
[4636] | 935 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4635] | 936 | { |
---|
| 937 | /* draw the obb axes */ |
---|
| 938 | glBegin(GL_LINES); |
---|
| 939 | glColor3f(0.0, 0.4, 0.3); |
---|
| 940 | glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
---|
[4660] | 941 | glVertex3f(this->bvElement->center->x + this->bvElement->axis[0].x * this->bvElement->halfLength[0], |
---|
| 942 | this->bvElement->center->y + this->bvElement->axis[0].y * this->bvElement->halfLength[0], |
---|
| 943 | this->bvElement->center->z + this->bvElement->axis[0].z * this->bvElement->halfLength[0]); |
---|
[4589] | 944 | |
---|
[4635] | 945 | glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
---|
[4660] | 946 | glVertex3f(this->bvElement->center->x + this->bvElement->axis[1].x * this->bvElement->halfLength[1], |
---|
| 947 | this->bvElement->center->y + this->bvElement->axis[1].y * this->bvElement->halfLength[1], |
---|
| 948 | this->bvElement->center->z + this->bvElement->axis[1].z * this->bvElement->halfLength[1]); |
---|
[4588] | 949 | |
---|
[4635] | 950 | glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
---|
[4660] | 951 | glVertex3f(this->bvElement->center->x + this->bvElement->axis[2].x * this->bvElement->halfLength[2], |
---|
| 952 | this->bvElement->center->y + this->bvElement->axis[2].y * this->bvElement->halfLength[2], |
---|
| 953 | this->bvElement->center->z + this->bvElement->axis[2].z * this->bvElement->halfLength[2]); |
---|
[4635] | 954 | glEnd(); |
---|
| 955 | } |
---|
| 956 | } |
---|
[4581] | 957 | |
---|
[4588] | 958 | |
---|
[4674] | 959 | /* DRAW POLYGONS */ |
---|
[4673] | 960 | if( drawMode & DRAW_BV_POLYGON || drawMode & DRAW_ALL || drawMode & DRAW_BV_BLENDED) |
---|
[4635] | 961 | { |
---|
[5487] | 962 | if (top) |
---|
| 963 | { |
---|
| 964 | glEnable(GL_BLEND); |
---|
| 965 | glBlendFunc(GL_SRC_ALPHA, GL_ONE); |
---|
| 966 | } |
---|
| 967 | |
---|
[4711] | 968 | if(this->nodeLeft == NULL || this->nodeRight == NULL) |
---|
[4710] | 969 | depth = 0; |
---|
[4636] | 970 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4635] | 971 | { |
---|
[4636] | 972 | Vector cen = *this->bvElement->center; |
---|
[4660] | 973 | Vector* axis = this->bvElement->axis; |
---|
[4636] | 974 | float* len = this->bvElement->halfLength; |
---|
[4588] | 975 | |
---|
[4702] | 976 | if( this->bvElement->bCollided) |
---|
[5481] | 977 | { |
---|
[5487] | 978 | glColor4f(1.0, 1.0, 1.0, .5); // COLLISION COLOR |
---|
[5481] | 979 | } |
---|
[4702] | 980 | else if( drawMode & DRAW_BV_BLENDED) |
---|
[5481] | 981 | { |
---|
| 982 | glColor4f(color.x, color.y, color.z, .5); |
---|
| 983 | } |
---|
[4670] | 984 | |
---|
[4636] | 985 | /* draw bounding box */ |
---|
[4670] | 986 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 987 | glBegin(GL_QUADS); |
---|
| 988 | else |
---|
| 989 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 990 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 991 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 992 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 993 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 994 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 995 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 996 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 997 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 998 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 999 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1000 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1001 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
[4636] | 1002 | glEnd(); |
---|
[4588] | 1003 | |
---|
[4670] | 1004 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 1005 | glBegin(GL_QUADS); |
---|
| 1006 | else |
---|
| 1007 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 1008 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1009 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1010 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1011 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1012 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1013 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1014 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1015 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1016 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1017 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1018 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1019 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
[4636] | 1020 | glEnd(); |
---|
[4588] | 1021 | |
---|
[4670] | 1022 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 1023 | glBegin(GL_QUADS); |
---|
| 1024 | else |
---|
| 1025 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 1026 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1027 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1028 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1029 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1030 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1031 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1032 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1033 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1034 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1035 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1036 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1037 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
[4636] | 1038 | glEnd(); |
---|
[4588] | 1039 | |
---|
[4670] | 1040 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 1041 | glBegin(GL_QUADS); |
---|
| 1042 | else |
---|
| 1043 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 1044 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1045 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1046 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1047 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1048 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1049 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1050 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1051 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1052 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1053 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1054 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1055 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
[4636] | 1056 | glEnd(); |
---|
[4670] | 1057 | |
---|
[4671] | 1058 | |
---|
[4670] | 1059 | if( drawMode & DRAW_BV_BLENDED) |
---|
[4671] | 1060 | { |
---|
| 1061 | glBegin(GL_QUADS); |
---|
| 1062 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1063 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1064 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1065 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1066 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1067 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1068 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1069 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1070 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1071 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1072 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1073 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1074 | glEnd(); |
---|
| 1075 | |
---|
| 1076 | glBegin(GL_QUADS); |
---|
| 1077 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1078 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1079 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1080 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1081 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1082 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1083 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1084 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1085 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1086 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1087 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1088 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1089 | glEnd(); |
---|
| 1090 | } |
---|
| 1091 | |
---|
| 1092 | |
---|
| 1093 | if( drawMode & DRAW_BV_BLENDED) |
---|
[5481] | 1094 | glColor3f(color.x, color.y, color.z); |
---|
[4635] | 1095 | } |
---|
[4636] | 1096 | |
---|
[4635] | 1097 | } |
---|
[4588] | 1098 | |
---|
[4674] | 1099 | /* DRAW SEPARATING PLANE */ |
---|
[4635] | 1100 | if( drawMode & DRAW_SEPARATING_PLANE || drawMode & DRAW_ALL) |
---|
[4632] | 1101 | { |
---|
[4636] | 1102 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4635] | 1103 | { |
---|
[4671] | 1104 | if( drawMode & DRAW_BV_BLENDED) |
---|
[5481] | 1105 | glColor4f(color.x, color.y, color.z, .6); |
---|
[4671] | 1106 | |
---|
[4636] | 1107 | /* now draw the separation plane */ |
---|
[4660] | 1108 | Vector a1 = this->bvElement->axis[(this->longestAxisIndex + 1)%3]; |
---|
| 1109 | Vector a2 = this->bvElement->axis[(this->longestAxisIndex + 2)%3]; |
---|
[4636] | 1110 | Vector c = *this->bvElement->center; |
---|
| 1111 | float l1 = this->bvElement->halfLength[(this->longestAxisIndex + 1)%3]; |
---|
| 1112 | float l2 = this->bvElement->halfLength[(this->longestAxisIndex + 2)%3]; |
---|
| 1113 | glBegin(GL_QUADS); |
---|
| 1114 | glVertex3f(c.x + a1.x * l1 + a2.x * l2, c.y + a1.y * l1+ a2.y * l2, c.z + a1.z * l1 + a2.z * l2); |
---|
| 1115 | glVertex3f(c.x - a1.x * l1 + a2.x * l2, c.y - a1.y * l1+ a2.y * l2, c.z - a1.z * l1 + a2.z * l2); |
---|
| 1116 | glVertex3f(c.x - a1.x * l1 - a2.x * l2, c.y - a1.y * l1- a2.y * l2, c.z - a1.z * l1 - a2.z * l2); |
---|
| 1117 | glVertex3f(c.x + a1.x * l1 - a2.x * l2, c.y + a1.y * l1- a2.y * l2, c.z + a1.z * l1 - a2.z * l2); |
---|
| 1118 | glEnd(); |
---|
[4671] | 1119 | |
---|
| 1120 | if( drawMode & DRAW_BV_BLENDED) |
---|
[5481] | 1121 | glColor4f(color.x, color.y, color.z, 1.0); |
---|
[4671] | 1122 | |
---|
[4635] | 1123 | } |
---|
[4632] | 1124 | } |
---|
[4588] | 1125 | |
---|
[4702] | 1126 | |
---|
| 1127 | |
---|
[5481] | 1128 | if (depth > 0) |
---|
| 1129 | { |
---|
| 1130 | if( this->nodeLeft != NULL) |
---|
[5494] | 1131 | this->nodeLeft->drawBV(depth - 1, drawMode, Color::HSVtoRGB(Color::RGBtoHSV(color)+Vector(15.0,0.0,0.0)), false); |
---|
[5481] | 1132 | if( this->nodeRight != NULL) |
---|
[5494] | 1133 | this->nodeRight->drawBV(depth - 1, drawMode, Color::HSVtoRGB(Color::RGBtoHSV(color)+Vector(30.0,0.0,0.0)), false); |
---|
[5481] | 1134 | } |
---|
| 1135 | this->bvElement->bCollided = false; |
---|
[4588] | 1136 | |
---|
[5481] | 1137 | if (top) |
---|
| 1138 | glPopAttrib(); |
---|
[4557] | 1139 | } |
---|
[4542] | 1140 | |
---|
| 1141 | |
---|
[4568] | 1142 | |
---|
[4746] | 1143 | void OBBTreeNode::debug() const |
---|
[4568] | 1144 | { |
---|
| 1145 | |
---|
| 1146 | /* |
---|
| 1147 | for(int i = 0; i < length; i++) |
---|
[4617] | 1148 | { |
---|
[4638] | 1149 | PRINTF(3)("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]); |
---|
[4617] | 1150 | } |
---|
[4568] | 1151 | */ |
---|
| 1152 | } |
---|