[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 | PRINTF(3)("OBB Depth: %i, tree index: %i, numVertices: %i\n", depth, treeIndex, length); |
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| 119 | this->depth = depth; |
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[4542] | 120 | |
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[5704] | 121 | this->bvElement = new OBB(); |
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[5702] | 122 | this->bvElement->modelInf = &modelInf; |
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| 123 | this->bvElement->triangleIndexes = triangleIndexes; |
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| 124 | this->bvElement->numTriangles = length; |
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| 125 | |
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| 126 | this->calculateBoxCovariance(this->bvElement, modelInf, triangleIndexes, length); |
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| 127 | this->calculateBoxEigenvectors(this->bvElement, modelInf, triangleIndexes, length); |
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| 128 | this->calculateBoxAxis(this->bvElement, modelInf, triangleIndexes, length); |
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[5684] | 129 | |
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[5704] | 130 | /* if this is the first node, the vertices data are the original ones of the model itself, |
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| 131 | so dont delete them in cleanup */ |
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[5684] | 132 | if( likely( this->depth > 0)) |
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| 133 | { |
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| 134 | this->forkBox(this->bvElement); |
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| 135 | |
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| 136 | |
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| 137 | // if(this->tmpLen1 > 2) |
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| 138 | // { |
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| 139 | // OBBTreeNode* node1 = new OBBTreeNode(); |
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| 140 | // this->nodeLeft = node1; |
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| 141 | // this->nodeLeft->spawnBVTree(depth - 1, this->tmpVert1, this->tmpLen1); |
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| 142 | // } |
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| 143 | // else |
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| 144 | // { |
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| 145 | // PRINTF(3)("Aboarding tree walk: less than 3 vertices left\n"); |
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| 146 | // } |
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[5689] | 147 | // |
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[5684] | 148 | // if( this->tmpLen2 > 2) |
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| 149 | // { |
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| 150 | // OBBTreeNode* node2 = new OBBTreeNode(); |
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| 151 | // this->nodeRight = node2; |
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| 152 | // this->nodeRight->spawnBVTree(depth - 1, this->tmpVert2, this->tmpLen2); |
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| 153 | // } |
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| 154 | // else |
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| 155 | // { |
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| 156 | // PRINTF(3)("Abording tree walk: less than 3 vertices left\n"); |
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| 157 | // } |
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| 158 | |
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| 159 | } |
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| 160 | } |
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| 161 | |
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| 162 | |
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[4542] | 163 | /** |
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[4836] | 164 | * creates a new BVTree or BVTree partition |
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| 165 | * @param depth: how much more depth-steps to go: if == 1 don't go any deeper! |
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| 166 | * @param verticesList: the list of vertices of the object - each vertices triple is interpreted as a triangle |
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[5689] | 167 | * |
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[5684] | 168 | * this function creates an Bounding Volume tree from a vertices soup (no triangle data) |
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[4617] | 169 | */ |
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[5688] | 170 | void OBBTreeNode::spawnBVTree(const int depth, const sVec3D *verticesList, unsigned int length) |
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[4542] | 171 | { |
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[5704] | 172 | // PRINT(3)("\n"); |
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| 173 | // PRINTF(3)("OBB Depth: %i, tree index: %i, numVertices: %i\n", depth, treeIndex, length); |
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| 174 | // this->depth = depth; |
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| 175 | // |
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| 176 | // |
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| 177 | // this->bvElement = new OBB(); |
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| 178 | // this->bvElement->vertices = verticesList; |
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| 179 | // this->bvElement->numOfVertices = length; |
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| 180 | // PRINTF(3)("Created OBBox\n"); |
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| 181 | // this->calculateBoxCovariance(this->bvElement, verticesList, length); |
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| 182 | // PRINTF(3)("Calculated attributes1\n"); |
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| 183 | // this->calculateBoxEigenvectors(this->bvElement, verticesList, length); |
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| 184 | // PRINTF(3)("Calculated attributes2\n"); |
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| 185 | // this->calculateBoxAxis(this->bvElement, verticesList, length); |
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| 186 | // PRINTF(3)("Calculated attributes3\n"); |
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| 187 | // |
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| 188 | // |
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| 189 | // |
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| 190 | // if( likely( this->depth > 0)) |
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| 191 | // { |
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| 192 | // this->forkBox(this->bvElement); |
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| 193 | // |
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| 194 | // |
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| 195 | // if(this->tmpLen1 > 2) |
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| 196 | // { |
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| 197 | // OBBTreeNode* node1 = new OBBTreeNode(this->obbTree); |
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| 198 | // this->nodeLeft = node1; |
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| 199 | // this->nodeLeft->spawnBVTree(depth - 1, this->tmpVert1, this->tmpLen1); |
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| 200 | // } |
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| 201 | // else |
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| 202 | // { |
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| 203 | // PRINTF(3)("Aboarding tree walk: less than 3 vertices left\n"); |
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| 204 | // } |
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| 205 | // |
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| 206 | // if( this->tmpLen2 > 2) |
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| 207 | // { |
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| 208 | // OBBTreeNode* node2 = new OBBTreeNode(this->obbTree); |
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| 209 | // this->nodeRight = node2; |
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| 210 | // this->nodeRight->spawnBVTree(depth - 1, this->tmpVert2, this->tmpLen2); |
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| 211 | // } |
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| 212 | // else |
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| 213 | // { |
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| 214 | // PRINTF(3)("Abording tree walk: less than 3 vertices left\n"); |
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| 215 | // } |
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| 216 | // } |
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[4557] | 217 | } |
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| 218 | |
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| 219 | |
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[5702] | 220 | void OBBTreeNode::calculateBoxCovariance(OBB* box, const modelInfo& modInfo, const int* triangleIndexes, unsigned int length) |
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[5684] | 221 | {} |
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[4557] | 222 | |
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[5684] | 223 | |
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[5688] | 224 | void OBBTreeNode::calculateBoxCovariance(OBB* box, const sVec3D* verticesList, unsigned int length) |
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[4557] | 225 | { |
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[5704] | 226 | PRINTF(3)("Created OBBox\n"); |
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| 227 | |
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[4543] | 228 | float facelet[length]; //!< surface area of the i'th triangle of the convex hull |
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[5428] | 229 | float face = 0.0f; //!< surface area of the entire convex hull |
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[4588] | 230 | Vector centroid[length]; //!< centroid of the i'th convex hull |
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[4557] | 231 | Vector center; //!< the center of the entire hull |
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[4544] | 232 | Vector p, q, r; //!< holder of the polygon data, much more conveniant to work with Vector than sVec3d |
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[4545] | 233 | Vector t1, t2; //!< temporary values |
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[5692] | 234 | float covariance[3][3] = {0,0,0, 0,0,0, 0,0,0};//!< the covariance matrix |
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[4674] | 235 | int mode = 0; //!< mode = 0: vertex soup, no connections, mode = 1: 3 following verteces build a triangle |
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[4588] | 236 | |
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[4553] | 237 | this->numOfVertices = length; |
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| 238 | this->vertices = verticesList; |
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| 239 | |
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[4562] | 240 | |
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[4648] | 241 | if( likely(mode == 0)) |
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| 242 | { |
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| 243 | /* fist compute all the convex hull face/facelets and centroids */ |
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[5428] | 244 | for( int i = 0; i+3 < length ; i+=3) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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[4648] | 245 | { |
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| 246 | p = verticesList[i]; |
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| 247 | q = verticesList[i + 1]; |
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| 248 | r = verticesList[i + 2]; |
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[4638] | 249 | |
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[4648] | 250 | t1 = p - q; t2 = p - r; |
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[4638] | 251 | |
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[4648] | 252 | /* finding the facelet surface via cross-product */ |
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| 253 | facelet[i] = 0.5f * fabs( t1.cross(t2).len() ); |
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| 254 | /* update the entire convex hull surface */ |
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| 255 | face += facelet[i]; |
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| 256 | |
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| 257 | /* calculate the cetroid of the hull triangles */ |
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| 258 | centroid[i] = (p + q + r) * 1/3; |
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| 259 | /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */ |
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| 260 | center += centroid[i] * facelet[i]; |
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| 261 | } |
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| 262 | /* take the average of the centroid sum */ |
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| 263 | center /= face; |
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| 264 | PRINTF(3)("-- Calculated Center\n"); |
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| 265 | |
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| 266 | |
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| 267 | /* now calculate the covariance matrix - if not written in three for-loops, it would compute faster: minor */ |
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[5428] | 268 | for( int j = 0; j < 3; ++j) |
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[4648] | 269 | { |
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[5428] | 270 | for( int k = 0; k < 3; ++k) |
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[4648] | 271 | { |
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[5428] | 272 | for( int i = 0; i + 3 < length; i+=3) |
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[4648] | 273 | { |
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| 274 | p = verticesList[i]; |
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| 275 | q = verticesList[i + 1]; |
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| 276 | r = verticesList[i + 2]; |
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| 277 | |
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| 278 | covariance[j][k] = facelet[i] / (12.0f * face) * (9.0f * centroid[i][j] * centroid[i][k] + p[j] * p[k] + |
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| 279 | q[j] * q[k] + r[j] * r[k]) - center[j] * center[k]; |
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| 280 | } |
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| 281 | } |
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| 282 | } |
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| 283 | PRINTF(3)("-- Calculated Covariance\n"); |
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| 284 | } |
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| 285 | else if( mode == 1) |
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[4617] | 286 | { |
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[5428] | 287 | for( int i = 0; i + 3 < length; i+=3) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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[4648] | 288 | { |
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| 289 | p = verticesList[i]; |
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| 290 | q = verticesList[i + 1]; |
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| 291 | r = verticesList[i + 2]; |
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[4588] | 292 | |
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[4648] | 293 | centroid[i] = (p + q + r) / 3.0f; |
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| 294 | center += centroid[i]; |
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| 295 | } |
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| 296 | center /= length; |
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[4588] | 297 | |
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[4648] | 298 | for( int j = 0; j < 3; ++j) |
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| 299 | { |
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| 300 | for( int k = 0; k < 3; ++k) |
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| 301 | { |
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[5428] | 302 | for( int i = 0; i + 3 < length; i+=3) |
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[4648] | 303 | { |
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| 304 | p = verticesList[i]; |
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| 305 | q = verticesList[i +1]; |
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| 306 | r = verticesList[i + 2]; |
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[4545] | 307 | |
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[4648] | 308 | covariance[j][k] = p[j] * p[k] + q[j] * q[k] + r[j] + r[k]; |
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| 309 | } |
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| 310 | covariance[j][k] /= (3.0f * length); |
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| 311 | } |
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| 312 | } |
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| 313 | PRINTF(3)("-- Calculated Covariance\n"); |
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[4617] | 314 | } |
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[4648] | 315 | else if( mode == 2) |
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| 316 | { |
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| 317 | /* fist compute all the convex hull face/facelets and centroids */ |
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[5428] | 318 | for(int i = 0; i + 3 < length; i+=3) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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[4648] | 319 | { |
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| 320 | p = verticesList[i]; |
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| 321 | q = verticesList[i + 1]; |
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| 322 | r = verticesList[i + 2]; |
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[4562] | 323 | |
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[4648] | 324 | t1 = p - q; t2 = p - r; |
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[4562] | 325 | |
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[4648] | 326 | /* finding the facelet surface via cross-product */ |
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| 327 | facelet[i] = 0.5f * fabs( t1.cross(t2).len() ); |
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| 328 | /* update the entire convex hull surface */ |
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| 329 | face += facelet[i]; |
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| 330 | |
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| 331 | /* calculate the cetroid of the hull triangles */ |
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| 332 | centroid[i] = (p + q + r) * 1/3; |
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| 333 | /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */ |
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| 334 | center += centroid[i] * facelet[i]; |
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| 335 | } |
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| 336 | /* take the average of the centroid sum */ |
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| 337 | center /= face; |
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| 338 | PRINTF(3)("-- Calculated Center\n"); |
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| 339 | |
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| 340 | for( int j = 0; j < 3; ++j) |
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| 341 | { |
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| 342 | for( int k = 0; k < 3; ++k) |
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| 343 | { |
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[5428] | 344 | for( int i = 0; i + 3 < length; i+=3) |
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[4648] | 345 | { |
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| 346 | p = verticesList[i]; |
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| 347 | q = verticesList[i +1]; |
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| 348 | r = verticesList[i + 2]; |
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| 349 | |
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| 350 | covariance[j][k] = p[j] * p[k] + q[j] * q[k] + r[j] + r[k]; |
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| 351 | } |
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| 352 | covariance[j][k] /= (3.0f * length); |
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| 353 | } |
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| 354 | } |
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| 355 | PRINTF(3)("-- Calculated Covariance\n"); |
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| 356 | } |
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| 357 | else |
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[4617] | 358 | { |
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[4648] | 359 | for( int i = 0; i < length; ++i) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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[4545] | 360 | { |
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[4648] | 361 | center += verticesList[i]; |
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| 362 | } |
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| 363 | center /= length; |
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| 364 | |
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| 365 | for( int j = 0; j < 3; ++j) |
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| 366 | { |
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| 367 | for( int k = 0; k < 3; ++k) |
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[4617] | 368 | { |
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[5428] | 369 | for( int i = 0; i + 3 < length; i+=3) |
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[4648] | 370 | { |
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| 371 | p = verticesList[i]; |
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| 372 | q = verticesList[i +1]; |
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| 373 | r = verticesList[i + 2]; |
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[4544] | 374 | |
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[4648] | 375 | covariance[j][k] = p[j] * p[k] + q[j] * q[k] + r[j] + r[k]; |
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| 376 | } |
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| 377 | covariance[j][k] /= (3.0f * length); |
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[4617] | 378 | } |
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[4545] | 379 | } |
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[4648] | 380 | PRINTF(3)("-- Calculated Covariance\n"); |
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[4617] | 381 | } |
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[4562] | 382 | |
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[4648] | 383 | PRINTF(3)("\nVertex Data:\n"); |
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[4638] | 384 | for(int i = 0; i < length; i++) |
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| 385 | { |
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[4648] | 386 | 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] | 387 | } |
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[4588] | 388 | |
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[4648] | 389 | |
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[4675] | 390 | PRINTF(3)("\nCovariance Matrix:\n"); |
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[4674] | 391 | for(int j = 0; j < 3; ++j) |
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| 392 | { |
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[4675] | 393 | PRINT(3)(" |"); |
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[4674] | 394 | for(int k = 0; k < 3; ++k) |
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| 395 | { |
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[4675] | 396 | PRINT(3)(" \b%f ", covariance[j][k]); |
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[4674] | 397 | } |
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[4675] | 398 | PRINT(3)(" |\n"); |
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[4674] | 399 | } |
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| 400 | |
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[4638] | 401 | PRINTF(3)("center: %f, %f, %f\n", center.x, center.y, center.z); |
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[4553] | 402 | |
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[4588] | 403 | |
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[4674] | 404 | for(int i = 0; i < 3; ++i) |
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| 405 | { |
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| 406 | box->covarianceMatrix[i][0] = covariance[i][0]; |
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| 407 | box->covarianceMatrix[i][1] = covariance[i][1]; |
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| 408 | box->covarianceMatrix[i][2] = covariance[i][2]; |
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| 409 | } |
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[4560] | 410 | *box->center = center; |
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[4638] | 411 | PRINTF(3)("-- Written Result to obb\n"); |
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[4631] | 412 | } |
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[4557] | 413 | |
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[4631] | 414 | |
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[5702] | 415 | void OBBTreeNode::calculateBoxEigenvectors(OBB* box, const modelInfo& modInfo, |
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| 416 | const int* triangleIndexes, unsigned int length) |
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[5684] | 417 | {} |
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[4631] | 418 | |
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[5688] | 419 | void OBBTreeNode::calculateBoxEigenvectors(OBB* box, const sVec3D* verticesList, unsigned int length) |
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[4631] | 420 | { |
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[5704] | 421 | PRINTF(3)("Calculated attributes1\n"); |
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[4557] | 422 | /* now getting spanning vectors of the sub-space: |
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[4617] | 423 | the eigenvectors of a symmertric matrix, such as the |
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| 424 | covarience matrix are mutually orthogonal. |
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| 425 | after normalizing them, they can be used as a the basis |
---|
| 426 | vectors |
---|
[4557] | 427 | */ |
---|
[5699] | 428 | Vector axis[3]; //!< the references to the obb axis |
---|
[4588] | 429 | |
---|
[5694] | 430 | Matrix covMat( box->covarianceMatrix ); |
---|
[5674] | 431 | covMat.getEigenVectors(axis[0], axis[1], axis[2] ); |
---|
[4627] | 432 | |
---|
[5449] | 433 | |
---|
[4630] | 434 | /* new jacobi tests */ |
---|
[5674] | 435 | // JacobI(OBBTreeNode::coMat, OBBTreeNode::eigvlMat, OBBTreeNode::eigvMat, OBBTreeNode::rotCount); |
---|
| 436 | // PRINTF(3)("-- Done Jacobi Decomposition\n"); |
---|
[4628] | 437 | |
---|
[4627] | 438 | |
---|
[5491] | 439 | // PRINTF(0)("Jacobi\n"); |
---|
| 440 | // for(int j = 0; j < 3; ++j) |
---|
[4629] | 441 | // { |
---|
[5491] | 442 | // printf(" |"); |
---|
| 443 | // for(int k = 0; k < 3; ++k) |
---|
[4629] | 444 | // { |
---|
[5491] | 445 | // printf(" \t%f ", OBBTreeNode::OBBTreeNode::eigvMat[j][k]); |
---|
[4629] | 446 | // } |
---|
[5491] | 447 | // printf(" |\n"); |
---|
[4629] | 448 | // } |
---|
| 449 | |
---|
[5674] | 450 | /* axis[0].x = OBBTreeNode::eigvMat[0][0]; axis[0].y = OBBTreeNode::eigvMat[1][0]; axis[0].z = OBBTreeNode::eigvMat[2][0]; |
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[5449] | 451 | axis[1].x = OBBTreeNode::eigvMat[0][1]; axis[1].y = OBBTreeNode::eigvMat[1][1]; axis[1].z = OBBTreeNode::eigvMat[2][1]; |
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| 452 | axis[2].x = OBBTreeNode::eigvMat[0][2]; axis[2].y = OBBTreeNode::eigvMat[1][2]; axis[2].z = OBBTreeNode::eigvMat[2][2]; |
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[4705] | 453 | axis[0].normalize(); |
---|
| 454 | axis[1].normalize(); |
---|
[5674] | 455 | axis[2].normalize();*/ |
---|
[5699] | 456 | box->axis[0] = axis[0]; |
---|
| 457 | box->axis[1] = axis[1]; |
---|
| 458 | box->axis[2] = axis[2]; |
---|
[4660] | 459 | |
---|
[5492] | 460 | // PRINTF(0)("-- Got Axis\n"); |
---|
| 461 | // |
---|
| 462 | // PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[0].x, box->axis[0].y, box->axis[0].z); |
---|
| 463 | // PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[1].x, box->axis[1].y, box->axis[1].z); |
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| 464 | // PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[2].x, box->axis[2].y, box->axis[2].z); |
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[4632] | 465 | } |
---|
[4588] | 466 | |
---|
[4626] | 467 | |
---|
[5702] | 468 | void OBBTreeNode::calculateBoxAxis(OBB* box, const modelInfo& modInfo, const int* triangleIndexes, unsigned int length) |
---|
[5686] | 469 | { |
---|
[5689] | 470 | this->calculateBoxAxis(box, (const sVec3D*)modInfo.pVertices, modInfo.numVertices); |
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[5686] | 471 | } |
---|
[5684] | 472 | |
---|
| 473 | |
---|
[5686] | 474 | |
---|
[5688] | 475 | void OBBTreeNode::calculateBoxAxis(OBB* box, const sVec3D* verticesList, unsigned int length) |
---|
[4631] | 476 | { |
---|
[5704] | 477 | PRINTF(3)("Calculated attributes3\n"); |
---|
[4576] | 478 | /* now get the axis length */ |
---|
[4578] | 479 | Line ax[3]; //!< the axis |
---|
[5699] | 480 | float halfLength[3]; //!< half length of the axis |
---|
[4578] | 481 | float tmpLength; //!< tmp save point for the length |
---|
[5699] | 482 | Plane p0(box->axis[0], *box->center); //!< the axis planes |
---|
[4660] | 483 | Plane p1(box->axis[1], *box->center); |
---|
| 484 | Plane p2(box->axis[2], *box->center); |
---|
[4658] | 485 | float maxLength[3]; |
---|
| 486 | float minLength[3]; |
---|
[4588] | 487 | |
---|
[4658] | 488 | |
---|
| 489 | /* get a bad bounding box */ |
---|
[4589] | 490 | halfLength[0] = -1.0f; |
---|
[4585] | 491 | for(int j = 0; j < length; ++j) |
---|
[4658] | 492 | { |
---|
[4661] | 493 | tmpLength = fabs(p0.distancePoint(vertices[j])); |
---|
[4658] | 494 | if( tmpLength > halfLength[0]) |
---|
[4659] | 495 | halfLength[0] = tmpLength; |
---|
[4658] | 496 | } |
---|
| 497 | |
---|
| 498 | halfLength[1] = -1.0f; |
---|
| 499 | for(int j = 0; j < length; ++j) |
---|
| 500 | { |
---|
| 501 | tmpLength = fabs(p1.distancePoint(vertices[j])); |
---|
| 502 | if( tmpLength > halfLength[1]) |
---|
[4659] | 503 | halfLength[1] = tmpLength; |
---|
[4658] | 504 | } |
---|
| 505 | |
---|
| 506 | halfLength[2] = -1.0f; |
---|
| 507 | for(int j = 0; j < length; ++j) |
---|
| 508 | { |
---|
[4661] | 509 | tmpLength = fabs(p2.distancePoint(vertices[j])); |
---|
[4658] | 510 | if( tmpLength > halfLength[2]) |
---|
[4659] | 511 | halfLength[2] = tmpLength; |
---|
[4658] | 512 | } |
---|
| 513 | |
---|
| 514 | |
---|
| 515 | |
---|
| 516 | /* get the maximal dimensions of the body in all directions */ |
---|
[4710] | 517 | maxLength[0] = p0.distancePoint(vertices[0]); |
---|
| 518 | minLength[0] = p0.distancePoint(vertices[0]); |
---|
[4660] | 519 | for(int j = 0; j < length; ++j) |
---|
| 520 | { |
---|
| 521 | tmpLength = p0.distancePoint(vertices[j]); |
---|
| 522 | if( tmpLength > maxLength[0]) |
---|
| 523 | maxLength[0] = tmpLength; |
---|
| 524 | else if( tmpLength < minLength[0]) |
---|
| 525 | minLength[0] = tmpLength; |
---|
| 526 | } |
---|
[4578] | 527 | |
---|
[4710] | 528 | maxLength[1] = p1.distancePoint(vertices[0]); |
---|
| 529 | minLength[1] = p1.distancePoint(vertices[0]); |
---|
[4660] | 530 | for(int j = 0; j < length; ++j) |
---|
| 531 | { |
---|
[4661] | 532 | tmpLength = p1.distancePoint(vertices[j]); |
---|
[4660] | 533 | if( tmpLength > maxLength[1]) |
---|
| 534 | maxLength[1] = tmpLength; |
---|
| 535 | else if( tmpLength < minLength[1]) |
---|
| 536 | minLength[1] = tmpLength; |
---|
| 537 | } |
---|
[4585] | 538 | |
---|
[4710] | 539 | maxLength[2] = p2.distancePoint(vertices[0]); |
---|
| 540 | minLength[2] = p2.distancePoint(vertices[0]); |
---|
[4660] | 541 | for(int j = 0; j < length; ++j) |
---|
| 542 | { |
---|
[4661] | 543 | tmpLength = p2.distancePoint(vertices[j]); |
---|
[4660] | 544 | if( tmpLength > maxLength[2]) |
---|
| 545 | maxLength[2] = tmpLength; |
---|
| 546 | else if( tmpLength < minLength[2]) |
---|
| 547 | minLength[2] = tmpLength; |
---|
| 548 | } |
---|
[4585] | 549 | |
---|
[4660] | 550 | |
---|
| 551 | /* calculate the real centre of the body by using the axis length */ |
---|
[4668] | 552 | float centerOffset[3]; |
---|
| 553 | float newHalfLength[3]; |
---|
[4660] | 554 | for(int i = 0; i < 3; ++i) |
---|
| 555 | { |
---|
[4674] | 556 | PRINTF(3)("max: %f, min: %f \n", maxLength[i], minLength[i]); |
---|
[4710] | 557 | centerOffset[i] = (maxLength[i] + minLength[i]) / 2.0f; // min length is negatie |
---|
| 558 | newHalfLength[i] = (maxLength[i] - minLength[i]) / 2.0f; // min length is negative |
---|
[4668] | 559 | *box->center += (box->axis[i] * centerOffset[i]); // update the new center vector |
---|
| 560 | halfLength[i] = newHalfLength[i]; |
---|
[4660] | 561 | } |
---|
| 562 | |
---|
| 563 | |
---|
| 564 | |
---|
[5699] | 565 | box->halfLength[0] = halfLength[0]; |
---|
| 566 | box->halfLength[1] = halfLength[1]; |
---|
| 567 | box->halfLength[2] = halfLength[2]; |
---|
[4638] | 568 | PRINTF(3)("-- Written Axis to obb\n"); |
---|
| 569 | PRINTF(3)("-- Finished Calculating Attributes\n"); |
---|
[4542] | 570 | } |
---|
| 571 | |
---|
| 572 | |
---|
[4609] | 573 | |
---|
| 574 | /** |
---|
| 575 | \brief this separates an ob-box in the middle |
---|
[4836] | 576 | * @param box: the box to separate |
---|
[4609] | 577 | |
---|
| 578 | this will separate the box into to smaller boxes. the separation is done along the middle of the longest axis |
---|
| 579 | */ |
---|
[4557] | 580 | void OBBTreeNode::forkBox(OBB* box) |
---|
| 581 | { |
---|
| 582 | /* get the longest axis of the box */ |
---|
[4609] | 583 | float aLength = -1.0f; //!< the length of the longest axis |
---|
| 584 | int axisIndex = 0; //!< this is the nr of the longest axis |
---|
| 585 | |
---|
[4557] | 586 | for(int i = 0; i < 3; ++i) |
---|
[4609] | 587 | { |
---|
| 588 | if( aLength < box->halfLength[i]) |
---|
[4557] | 589 | { |
---|
[4609] | 590 | aLength = box->halfLength[i]; |
---|
| 591 | axisIndex = i; |
---|
[4557] | 592 | } |
---|
[4609] | 593 | } |
---|
[4588] | 594 | |
---|
[4688] | 595 | PRINTF(3)("longest axis is: nr %i with a half-length of: %f\n", axisIndex, aLength); |
---|
[4609] | 596 | |
---|
| 597 | |
---|
[4557] | 598 | /* get the closest vertex near the center */ |
---|
[4611] | 599 | float dist = 999999.0f; //!< the smallest distance to each vertex |
---|
[4609] | 600 | float tmpDist; //!< temporary distance |
---|
| 601 | int vertexIndex; |
---|
[4660] | 602 | Plane middlePlane(box->axis[axisIndex], *box->center); //!< the middle plane |
---|
[4588] | 603 | |
---|
[4660] | 604 | vertexIndex = 0; |
---|
[4609] | 605 | for(int i = 0; i < box->numOfVertices; ++i) |
---|
| 606 | { |
---|
[4611] | 607 | tmpDist = fabs(middlePlane.distancePoint(box->vertices[i])); |
---|
| 608 | if( tmpDist < dist) |
---|
| 609 | { |
---|
[4609] | 610 | dist = tmpDist; |
---|
[4611] | 611 | vertexIndex = i; |
---|
| 612 | } |
---|
[4609] | 613 | } |
---|
| 614 | |
---|
[4710] | 615 | PRINTF(3)("\nthe clostest vertex is nr: %i, with a dist of: %f\n", vertexIndex ,dist); |
---|
[4609] | 616 | |
---|
| 617 | |
---|
[4611] | 618 | /* now definin the separation plane through this specified nearest point and partition |
---|
[4617] | 619 | the points depending on which side they are located |
---|
[4611] | 620 | */ |
---|
[5688] | 621 | tList<const sVec3D> partition1; //!< the vertex partition 1 |
---|
| 622 | tList<const sVec3D> partition2; //!< the vertex partition 2 |
---|
[4611] | 623 | |
---|
[4710] | 624 | |
---|
[4695] | 625 | PRINTF(3)("vertex index: %i, of %i\n", vertexIndex, box->numOfVertices); |
---|
[5699] | 626 | this->separationPlane = Plane(box->axis[axisIndex], box->vertices[vertexIndex]); //!< separation plane |
---|
[4632] | 627 | this->sepPlaneCenter = &box->vertices[vertexIndex]; |
---|
| 628 | this->longestAxisIndex = axisIndex; |
---|
| 629 | |
---|
[4612] | 630 | for(int i = 0; i < box->numOfVertices; ++i) |
---|
| 631 | { |
---|
[4710] | 632 | if( i == vertexIndex) continue; |
---|
[5699] | 633 | tmpDist = this->separationPlane.distancePoint(box->vertices[i]); |
---|
[4710] | 634 | if( tmpDist > 0.0) |
---|
| 635 | partition1.add(&box->vertices[i]); /* positive numbers plus zero */ |
---|
[4612] | 636 | else |
---|
[4710] | 637 | partition2.add(&box->vertices[i]); /* negatice numbers */ |
---|
[4612] | 638 | } |
---|
[4613] | 639 | partition1.add(&box->vertices[vertexIndex]); |
---|
[4710] | 640 | partition2.add(&box->vertices[vertexIndex]); |
---|
[4611] | 641 | |
---|
[4710] | 642 | PRINTF(3)("\npartition1: got %i vertices/ partition 2: got %i vertices\n", partition1.getSize(), partition2.getSize()); |
---|
[4612] | 643 | |
---|
[4613] | 644 | |
---|
| 645 | /* now comes the separation into two different sVec3D arrays */ |
---|
[5688] | 646 | tIterator<const sVec3D>* iterator; //!< the iterator to go through the lists |
---|
| 647 | const sVec3D* element; //!< the elements |
---|
[4613] | 648 | int index; //!< index storage place |
---|
| 649 | sVec3D* vertList1; //!< the vertex list 1 |
---|
| 650 | sVec3D* vertList2; //!< the vertex list 2 |
---|
| 651 | |
---|
| 652 | vertList1 = new sVec3D[partition1.getSize()]; |
---|
| 653 | vertList2 = new sVec3D[partition2.getSize()]; |
---|
| 654 | |
---|
| 655 | iterator = partition1.getIterator(); |
---|
[5115] | 656 | element = iterator->firstElement(); |
---|
[4613] | 657 | index = 0; |
---|
| 658 | while( element != NULL) |
---|
| 659 | { |
---|
| 660 | vertList1[index][0] = element[0][0]; |
---|
| 661 | vertList1[index][1] = element[0][1]; |
---|
| 662 | vertList1[index][2] = element[0][2]; |
---|
| 663 | ++index; |
---|
| 664 | element = iterator->nextElement(); |
---|
| 665 | } |
---|
[5699] | 666 | delete iterator; |
---|
[4638] | 667 | // PRINTF(0)("\npartition 1:\n"); |
---|
[4626] | 668 | // for(int i = 0; i < partition1.getSize(); ++i) |
---|
| 669 | // { |
---|
[4638] | 670 | // 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] | 671 | // } |
---|
[4613] | 672 | |
---|
| 673 | iterator = partition2.getIterator(); |
---|
[5115] | 674 | element = iterator->firstElement(); |
---|
[4613] | 675 | index = 0; |
---|
| 676 | while( element != NULL) |
---|
| 677 | { |
---|
| 678 | vertList2[index][0] = element[0][0]; |
---|
| 679 | vertList2[index][1] = element[0][1]; |
---|
| 680 | vertList2[index][2] = element[0][2]; |
---|
| 681 | ++index; |
---|
| 682 | element = iterator->nextElement(); |
---|
| 683 | } |
---|
| 684 | |
---|
[5699] | 685 | if (this->tmpVert1 != NULL) |
---|
| 686 | delete[] this->tmpVert1; |
---|
[4630] | 687 | this->tmpVert1 = vertList1; |
---|
[5699] | 688 | if (this->tmpVert2 != NULL) |
---|
| 689 | delete[] this->tmpVert2; |
---|
[4630] | 690 | this->tmpVert2 = vertList2; |
---|
| 691 | this->tmpLen1 = partition1.getSize(); |
---|
| 692 | this->tmpLen2 = partition2.getSize(); |
---|
| 693 | |
---|
[4638] | 694 | delete iterator; |
---|
| 695 | |
---|
| 696 | // PRINTF(0)("\npartition 2:\n"); |
---|
[4626] | 697 | // for(int i = 0; i < partition2.getSize(); ++i) |
---|
| 698 | // { |
---|
[4638] | 699 | // 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] | 700 | // } |
---|
[4557] | 701 | } |
---|
| 702 | |
---|
| 703 | |
---|
[4626] | 704 | |
---|
| 705 | |
---|
[5028] | 706 | void OBBTreeNode::collideWith(BVTreeNode* treeNode, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
[4695] | 707 | { |
---|
[4705] | 708 | PRINTF(3)("collideWith\n"); |
---|
[4695] | 709 | /* if the obb overlap, make subtests: check which node is realy overlaping */ |
---|
[4705] | 710 | PRINT(3)("Checking OBB %i vs %i: ", this->getIndex(), treeNode->getIndex()); |
---|
[4718] | 711 | if( unlikely(treeNode == NULL)) return; |
---|
[5042] | 712 | |
---|
[4700] | 713 | if( this->overlapTest(this->bvElement, ((OBBTreeNode*)treeNode)->bvElement, nodeA, nodeB)) |
---|
[4695] | 714 | { |
---|
[5044] | 715 | PRINTF(3)("collision @ lvl %i, object %s vs. %s, (%p, %p)\n", this->depth, nodeA->getClassName(), nodeB->getClassName(), this->nodeLeft, this->nodeRight); |
---|
[5038] | 716 | |
---|
[4695] | 717 | /* check if left node overlaps */ |
---|
[4704] | 718 | if( likely( this->nodeLeft != NULL)) |
---|
| 719 | { |
---|
[4705] | 720 | PRINT(3)("Checking OBB %i vs %i: ", this->nodeLeft->getIndex(), treeNode->getIndex()); |
---|
[4700] | 721 | if( this->overlapTest(this->nodeLeft->bvElement, ((OBBTreeNode*)treeNode)->bvElement, nodeA, nodeB)) |
---|
[4704] | 722 | { |
---|
[4700] | 723 | this->nodeLeft->collideWith(((OBBTreeNode*)treeNode)->nodeLeft, nodeA, nodeB); |
---|
[4704] | 724 | this->nodeLeft->collideWith(((OBBTreeNode*)treeNode)->nodeRight, nodeA, nodeB); |
---|
| 725 | } |
---|
| 726 | } |
---|
[4695] | 727 | /* check if right node overlaps */ |
---|
[4704] | 728 | if( likely( this->nodeRight != NULL)) |
---|
| 729 | { |
---|
[4705] | 730 | PRINT(3)("Checking OBB %i vs %i: ", this->nodeRight->getIndex(), treeNode->getIndex()); |
---|
[4700] | 731 | if(this->overlapTest(this->nodeRight->bvElement, ((OBBTreeNode*)treeNode)->bvElement, nodeA, nodeB)) |
---|
[4704] | 732 | { |
---|
| 733 | this->nodeRight->collideWith(((OBBTreeNode*)treeNode)->nodeLeft, nodeA, nodeB); |
---|
| 734 | this->nodeRight->collideWith(((OBBTreeNode*)treeNode)->nodeRight, nodeA, nodeB); |
---|
| 735 | } |
---|
[5044] | 736 | } |
---|
[5028] | 737 | |
---|
[5044] | 738 | /* so there is a collision and this is the last box in the tree (i.e. leaf) */ |
---|
| 739 | if( unlikely(this->nodeRight == NULL && this->nodeLeft == NULL)) |
---|
| 740 | { |
---|
[5046] | 741 | nodeA->collidesWith(nodeB, *((OBBTreeNode*)treeNode)->bvElement->center); |
---|
| 742 | |
---|
| 743 | nodeB->collidesWith(nodeA, *this->bvElement->center); |
---|
[4704] | 744 | } |
---|
[5044] | 745 | |
---|
[4695] | 746 | } |
---|
| 747 | } |
---|
[4542] | 748 | |
---|
| 749 | |
---|
[4626] | 750 | |
---|
[5028] | 751 | bool OBBTreeNode::overlapTest(OBB* boxA, OBB* boxB, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
[4695] | 752 | { |
---|
[4696] | 753 | /* first check all axis */ |
---|
[4708] | 754 | Vector t; |
---|
[4700] | 755 | float rA = 0.0f; |
---|
| 756 | float rB = 0.0f; |
---|
| 757 | Vector l; |
---|
[4708] | 758 | Vector rotAxisA[3]; |
---|
| 759 | Vector rotAxisB[3]; |
---|
[4626] | 760 | |
---|
[4708] | 761 | rotAxisA[0] = nodeA->getAbsDir().apply(boxA->axis[0]); |
---|
| 762 | rotAxisA[1] = nodeA->getAbsDir().apply(boxA->axis[1]); |
---|
| 763 | rotAxisA[2] = nodeA->getAbsDir().apply(boxA->axis[2]); |
---|
| 764 | |
---|
| 765 | rotAxisB[0] = nodeB->getAbsDir().apply(boxB->axis[0]); |
---|
| 766 | rotAxisB[1] = nodeB->getAbsDir().apply(boxB->axis[1]); |
---|
| 767 | rotAxisB[2] = nodeB->getAbsDir().apply(boxB->axis[2]); |
---|
| 768 | |
---|
| 769 | t = nodeA->getAbsCoor() + nodeA->getAbsDir().apply(*boxA->center) - ( nodeB->getAbsCoor() + nodeB->getAbsDir().apply(*boxB->center)); |
---|
| 770 | |
---|
| 771 | // printf("\n"); |
---|
| 772 | // 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); |
---|
| 773 | // 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); |
---|
| 774 | // 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); |
---|
| 775 | // |
---|
| 776 | // 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); |
---|
| 777 | // 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); |
---|
| 778 | // 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); |
---|
| 779 | |
---|
| 780 | |
---|
[4703] | 781 | /* All 3 axis of the object A */ |
---|
[4701] | 782 | for( int j = 0; j < 3; ++j) |
---|
[4705] | 783 | { |
---|
| 784 | rA = 0.0f; |
---|
| 785 | rB = 0.0f; |
---|
[4708] | 786 | l = rotAxisA[j]; |
---|
[4705] | 787 | |
---|
[4708] | 788 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 789 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 790 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
[4705] | 791 | |
---|
[4708] | 792 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 793 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 794 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
[4705] | 795 | |
---|
| 796 | PRINTF(3)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
| 797 | |
---|
| 798 | if( (rA + rB) < fabs(t.dot(l))) |
---|
[4700] | 799 | { |
---|
[5689] | 800 | PRINT(3)("no Collision\n"); |
---|
[4705] | 801 | return false; |
---|
| 802 | } |
---|
| 803 | } |
---|
[4700] | 804 | |
---|
[4705] | 805 | /* All 3 axis of the object B */ |
---|
| 806 | for( int j = 0; j < 3; ++j) |
---|
| 807 | { |
---|
| 808 | rA = 0.0f; |
---|
| 809 | rB = 0.0f; |
---|
[4708] | 810 | l = rotAxisB[j]; |
---|
[4701] | 811 | |
---|
[4708] | 812 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 813 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 814 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
[4700] | 815 | |
---|
[4708] | 816 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 817 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 818 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
[4703] | 819 | |
---|
[4705] | 820 | PRINTF(3)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
| 821 | |
---|
| 822 | if( (rA + rB) < fabs(t.dot(l))) |
---|
| 823 | { |
---|
[5689] | 824 | PRINT(3)("no Collision\n"); |
---|
[4705] | 825 | return false; |
---|
[4701] | 826 | } |
---|
[4705] | 827 | } |
---|
[4700] | 828 | |
---|
[4705] | 829 | |
---|
| 830 | /* Now check for all face cross products */ |
---|
| 831 | |
---|
| 832 | for( int j = 0; j < 3; ++j) |
---|
| 833 | { |
---|
| 834 | for(int k = 0; k < 3; ++k ) |
---|
[4701] | 835 | { |
---|
| 836 | rA = 0.0f; |
---|
| 837 | rB = 0.0f; |
---|
[4708] | 838 | l = rotAxisA[j].cross(rotAxisB[k]); |
---|
[4701] | 839 | |
---|
[4708] | 840 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 841 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 842 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
[4701] | 843 | |
---|
[4708] | 844 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 845 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 846 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
[4701] | 847 | |
---|
[4703] | 848 | PRINTF(3)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
| 849 | |
---|
[4701] | 850 | if( (rA + rB) < fabs(t.dot(l))) |
---|
| 851 | { |
---|
[4705] | 852 | PRINT(3)("keine Kollision\n"); |
---|
[4701] | 853 | return false; |
---|
| 854 | } |
---|
[4703] | 855 | } |
---|
[4705] | 856 | } |
---|
[4701] | 857 | |
---|
| 858 | |
---|
[4705] | 859 | boxA->bCollided = true; /* use this ONLY(!!!!) for drawing operations */ |
---|
| 860 | boxB->bCollided = true; |
---|
| 861 | PRINT(3)("Kollision!\n"); |
---|
| 862 | return true; |
---|
[4695] | 863 | } |
---|
| 864 | |
---|
| 865 | |
---|
[4696] | 866 | |
---|
[4708] | 867 | |
---|
| 868 | |
---|
[5481] | 869 | void OBBTreeNode::drawBV(int depth, int drawMode, const Vector& color, bool top) const |
---|
[4553] | 870 | { |
---|
[4635] | 871 | |
---|
| 872 | /* draw the model itself, there is some problem concerning this: the vertices are drawn multiple times */ |
---|
| 873 | if( drawMode & DRAW_MODEL || drawMode & DRAW_ALL) |
---|
| 874 | { |
---|
[4638] | 875 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4622] | 876 | { |
---|
[4712] | 877 | if( drawMode & DRAW_POINTS) |
---|
| 878 | glBegin(GL_POINTS); |
---|
[4638] | 879 | for(int i = 0; i < this->bvElement->numOfVertices; ++i) |
---|
| 880 | { |
---|
[4712] | 881 | if( drawMode & DRAW_POINTS) |
---|
| 882 | glVertex3f(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]); |
---|
| 883 | else |
---|
| 884 | { |
---|
| 885 | glPushMatrix(); |
---|
| 886 | glTranslatef(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]); |
---|
[5430] | 887 | gluSphere(OBBTreeNode_sphereObj, 0.1, 10, 10); |
---|
[4712] | 888 | glPopMatrix(); |
---|
| 889 | } |
---|
[4638] | 890 | } |
---|
[4712] | 891 | if( drawMode & DRAW_POINTS) |
---|
| 892 | glEnd(); |
---|
[4622] | 893 | } |
---|
[4635] | 894 | } |
---|
[4542] | 895 | |
---|
[5481] | 896 | if (top) |
---|
| 897 | { |
---|
| 898 | glPushAttrib(GL_ENABLE_BIT); |
---|
| 899 | glDisable(GL_LIGHTING); |
---|
| 900 | glDisable(GL_TEXTURE_2D); |
---|
| 901 | } |
---|
| 902 | glColor3f(color.x, color.y, color.z); |
---|
[4542] | 903 | |
---|
[5481] | 904 | |
---|
[4589] | 905 | /* draw world axes */ |
---|
[4676] | 906 | if( drawMode & DRAW_BV_AXIS) |
---|
| 907 | { |
---|
| 908 | glBegin(GL_LINES); |
---|
[5481] | 909 | glColor3f(1.0, 0.0, 0.0); |
---|
[4676] | 910 | glVertex3f(0.0, 0.0, 0.0); |
---|
| 911 | glVertex3f(3.0, 0.0, 0.0); |
---|
[4589] | 912 | |
---|
[5481] | 913 | glColor3f(0.0, 1.0, 0.0); |
---|
[4676] | 914 | glVertex3f(0.0, 0.0, 0.0); |
---|
| 915 | glVertex3f(0.0, 3.0, 0.0); |
---|
[4589] | 916 | |
---|
[5481] | 917 | glColor3f(0.0, 0.0, 1.0); |
---|
[4676] | 918 | glVertex3f(0.0, 0.0, 0.0); |
---|
| 919 | glVertex3f(0.0, 0.0, 3.0); |
---|
| 920 | glEnd(); |
---|
| 921 | } |
---|
[4674] | 922 | |
---|
[4688] | 923 | |
---|
[4635] | 924 | if( drawMode & DRAW_BV_AXIS || drawMode & DRAW_ALL) |
---|
| 925 | { |
---|
[4636] | 926 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4635] | 927 | { |
---|
| 928 | /* draw the obb axes */ |
---|
| 929 | glBegin(GL_LINES); |
---|
| 930 | glColor3f(0.0, 0.4, 0.3); |
---|
| 931 | glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
---|
[4660] | 932 | glVertex3f(this->bvElement->center->x + this->bvElement->axis[0].x * this->bvElement->halfLength[0], |
---|
| 933 | this->bvElement->center->y + this->bvElement->axis[0].y * this->bvElement->halfLength[0], |
---|
| 934 | this->bvElement->center->z + this->bvElement->axis[0].z * this->bvElement->halfLength[0]); |
---|
[4589] | 935 | |
---|
[4635] | 936 | glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
---|
[4660] | 937 | glVertex3f(this->bvElement->center->x + this->bvElement->axis[1].x * this->bvElement->halfLength[1], |
---|
| 938 | this->bvElement->center->y + this->bvElement->axis[1].y * this->bvElement->halfLength[1], |
---|
| 939 | this->bvElement->center->z + this->bvElement->axis[1].z * this->bvElement->halfLength[1]); |
---|
[4588] | 940 | |
---|
[4635] | 941 | glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
---|
[4660] | 942 | glVertex3f(this->bvElement->center->x + this->bvElement->axis[2].x * this->bvElement->halfLength[2], |
---|
| 943 | this->bvElement->center->y + this->bvElement->axis[2].y * this->bvElement->halfLength[2], |
---|
| 944 | this->bvElement->center->z + this->bvElement->axis[2].z * this->bvElement->halfLength[2]); |
---|
[4635] | 945 | glEnd(); |
---|
| 946 | } |
---|
| 947 | } |
---|
[4581] | 948 | |
---|
[4588] | 949 | |
---|
[4674] | 950 | /* DRAW POLYGONS */ |
---|
[4673] | 951 | if( drawMode & DRAW_BV_POLYGON || drawMode & DRAW_ALL || drawMode & DRAW_BV_BLENDED) |
---|
[4635] | 952 | { |
---|
[5487] | 953 | if (top) |
---|
| 954 | { |
---|
| 955 | glEnable(GL_BLEND); |
---|
| 956 | glBlendFunc(GL_SRC_ALPHA, GL_ONE); |
---|
| 957 | } |
---|
| 958 | |
---|
[4711] | 959 | if(this->nodeLeft == NULL || this->nodeRight == NULL) |
---|
[4710] | 960 | depth = 0; |
---|
[4636] | 961 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4635] | 962 | { |
---|
[4636] | 963 | Vector cen = *this->bvElement->center; |
---|
[4660] | 964 | Vector* axis = this->bvElement->axis; |
---|
[4636] | 965 | float* len = this->bvElement->halfLength; |
---|
[4588] | 966 | |
---|
[4702] | 967 | if( this->bvElement->bCollided) |
---|
[5481] | 968 | { |
---|
[5487] | 969 | glColor4f(1.0, 1.0, 1.0, .5); // COLLISION COLOR |
---|
[5481] | 970 | } |
---|
[4702] | 971 | else if( drawMode & DRAW_BV_BLENDED) |
---|
[5481] | 972 | { |
---|
| 973 | glColor4f(color.x, color.y, color.z, .5); |
---|
| 974 | } |
---|
[4670] | 975 | |
---|
[4636] | 976 | /* draw bounding box */ |
---|
[4670] | 977 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 978 | glBegin(GL_QUADS); |
---|
| 979 | else |
---|
| 980 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 981 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 982 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 983 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 984 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 985 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 986 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 987 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 988 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 989 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 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]); |
---|
[4636] | 993 | glEnd(); |
---|
[4588] | 994 | |
---|
[4670] | 995 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 996 | glBegin(GL_QUADS); |
---|
| 997 | else |
---|
| 998 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 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]); |
---|
| 1002 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1003 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1004 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1005 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1006 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1007 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 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]); |
---|
[4636] | 1011 | glEnd(); |
---|
[4588] | 1012 | |
---|
[4670] | 1013 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 1014 | glBegin(GL_QUADS); |
---|
| 1015 | else |
---|
| 1016 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 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]); |
---|
| 1020 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1021 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1022 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1023 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1024 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1025 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 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]); |
---|
[4636] | 1029 | glEnd(); |
---|
[4588] | 1030 | |
---|
[4670] | 1031 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 1032 | glBegin(GL_QUADS); |
---|
| 1033 | else |
---|
| 1034 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 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]); |
---|
| 1038 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1039 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1040 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1041 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1042 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1043 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 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]); |
---|
[4636] | 1047 | glEnd(); |
---|
[4670] | 1048 | |
---|
[4671] | 1049 | |
---|
[4670] | 1050 | if( drawMode & DRAW_BV_BLENDED) |
---|
[4671] | 1051 | { |
---|
| 1052 | glBegin(GL_QUADS); |
---|
| 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]); |
---|
| 1056 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1057 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1058 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1059 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1060 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1061 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 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 | glEnd(); |
---|
| 1066 | |
---|
| 1067 | glBegin(GL_QUADS); |
---|
| 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 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1075 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1076 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 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 | glEnd(); |
---|
| 1081 | } |
---|
| 1082 | |
---|
| 1083 | |
---|
| 1084 | if( drawMode & DRAW_BV_BLENDED) |
---|
[5481] | 1085 | glColor3f(color.x, color.y, color.z); |
---|
[4635] | 1086 | } |
---|
[4636] | 1087 | |
---|
[4635] | 1088 | } |
---|
[4588] | 1089 | |
---|
[4674] | 1090 | /* DRAW SEPARATING PLANE */ |
---|
[4635] | 1091 | if( drawMode & DRAW_SEPARATING_PLANE || drawMode & DRAW_ALL) |
---|
[4632] | 1092 | { |
---|
[4636] | 1093 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4635] | 1094 | { |
---|
[4671] | 1095 | if( drawMode & DRAW_BV_BLENDED) |
---|
[5481] | 1096 | glColor4f(color.x, color.y, color.z, .6); |
---|
[4671] | 1097 | |
---|
[4636] | 1098 | /* now draw the separation plane */ |
---|
[4660] | 1099 | Vector a1 = this->bvElement->axis[(this->longestAxisIndex + 1)%3]; |
---|
| 1100 | Vector a2 = this->bvElement->axis[(this->longestAxisIndex + 2)%3]; |
---|
[4636] | 1101 | Vector c = *this->bvElement->center; |
---|
| 1102 | float l1 = this->bvElement->halfLength[(this->longestAxisIndex + 1)%3]; |
---|
| 1103 | float l2 = this->bvElement->halfLength[(this->longestAxisIndex + 2)%3]; |
---|
| 1104 | glBegin(GL_QUADS); |
---|
| 1105 | 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); |
---|
| 1106 | 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); |
---|
| 1107 | 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); |
---|
| 1108 | 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); |
---|
| 1109 | glEnd(); |
---|
[4671] | 1110 | |
---|
| 1111 | if( drawMode & DRAW_BV_BLENDED) |
---|
[5481] | 1112 | glColor4f(color.x, color.y, color.z, 1.0); |
---|
[4671] | 1113 | |
---|
[4635] | 1114 | } |
---|
[4632] | 1115 | } |
---|
[4588] | 1116 | |
---|
[4702] | 1117 | |
---|
| 1118 | |
---|
[5481] | 1119 | if (depth > 0) |
---|
| 1120 | { |
---|
| 1121 | if( this->nodeLeft != NULL) |
---|
[5494] | 1122 | this->nodeLeft->drawBV(depth - 1, drawMode, Color::HSVtoRGB(Color::RGBtoHSV(color)+Vector(15.0,0.0,0.0)), false); |
---|
[5481] | 1123 | if( this->nodeRight != NULL) |
---|
[5494] | 1124 | this->nodeRight->drawBV(depth - 1, drawMode, Color::HSVtoRGB(Color::RGBtoHSV(color)+Vector(30.0,0.0,0.0)), false); |
---|
[5481] | 1125 | } |
---|
| 1126 | this->bvElement->bCollided = false; |
---|
[4588] | 1127 | |
---|
[5481] | 1128 | if (top) |
---|
| 1129 | glPopAttrib(); |
---|
[4557] | 1130 | } |
---|
[4542] | 1131 | |
---|
| 1132 | |
---|
[4568] | 1133 | |
---|
[4746] | 1134 | void OBBTreeNode::debug() const |
---|
[4568] | 1135 | { |
---|
| 1136 | |
---|
| 1137 | /* |
---|
| 1138 | for(int i = 0; i < length; i++) |
---|
[4617] | 1139 | { |
---|
[4638] | 1140 | PRINTF(3)("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]); |
---|
[4617] | 1141 | } |
---|
[4568] | 1142 | */ |
---|
| 1143 | } |
---|