source: orxonox.OLD/branches/collision_detection/src/lib/collision_detection/obb_tree_node.h @ 5882

/*!
 * @file bv_tree.h
  *  Definition of a bounding volume tree

 */

#ifndef _OBB_TREE_NODE_H
#define _OBB_TREE_NODE_H

#include "bv_tree_node.h"


// forward declarations
class BoundingVolume;
class OBB;
class OBBTree;
class Plane;
class PNode;


//! A class that represents a bounding volume tree
class OBBTreeNode : public BVTreeNode
{


  public:
    OBBTreeNode(const OBBTree& tree, unsigned int depth);
    virtual ~OBBTreeNode();

    /**  this function returns the bounding volume of this tree node @return: returns the BV */
    virtual inline const BoundingVolume* getBV() const { return (BoundingVolume*)this->bvElement; }

    virtual void spawnBVTree(const modelInfo& modelInf, const int* triangleIndexes, unsigned int length);

    virtual void collideWith(const BVTreeNode& treeNode, const WorldEntity& nodeA, const WorldEntity& nodeB) const;
    virtual void drawBV(int depth, int drawMode, const Vector& color = Vector(1,0,0), bool top = true) const;
    void debug() const;


  private:
    void calculateBoxAxis(OBB& box, const sVec3D* verticesList, unsigned int length);

    void calculateBoxCovariance(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, unsigned int length);
    void calculateBoxEigenvectors(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, unsigned int length);
    void calculateBoxAxis(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, unsigned int length);
    void forkBox(OBB& box);

    bool overlapTest(const OBB& boxA, const OBB& boxB, const WorldEntity& nodeA, const WorldEntity& nodeB) const;


  protected:
    OBB*                bvElement;                  //!< the obb element
    OBBTreeNode*        nodeLeft;                   //!< ref to the left tree node
    OBBTreeNode*        nodeRight;                  //!< ref to the right tree node


  private:
    unsigned int        treeIndex;                  //!< Index number of the BV in the tree
    int                 depth;                      //!< the depth of the node in the tree
    const OBBTree*      obbTree;                    //!< reference to the obb tree

    const modelInfo*    modelInf;                   //!< pointer to the models modelInfo object
    const int*          triangleIndexes;            //!< indexes to the used model triangles

    Plane               separationPlane;            //!< the separation plane of the obb
    sVec3D              sepPlaneCenter;             //!< only needed to draw plane
    int                 longestAxisIndex;           //!< only needed to draw plane

    /* tmp saving place for obb variables */
    int*                triangleIndexList1;         //!< pointer to the vert data of obbox1
    int*                triangleIndexList2;         //!< pointer to the vert data of obbox1
    int                 triangleIndexLength1;       //!< len vert data obbox1
    int                 triangleIndexLength2;       //!< len vert data obbox2
};

#endif /* _OBB_TREE_NODE_H */